Lift Motor changed to DcMotorEx.

Added telementry.
edinabucketbrigade · Oct 23, 2024 · c8d34ce · c8d34ce
1 parent e486aee
commit c8d34ce
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControl.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverControl.java
@@ -33,6 +33,7 @@
 import com.arcrobotics.ftclib.gamepad.GamepadKeys;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.teamcode.subsystems.Lift;
@@ -84,6 +85,12 @@ public void runOpMode() {
             lift.update();
             // Show the elapsed game time.
             telemetry.addData("Status", "Run Time: " + runtime);
+            telemetry.addData("Target", "%d", robot.liftMotor.getTargetPosition());
+            telemetry.addData("Position", "%d", robot.liftMotor.getCurrentPosition());
+            telemetry.addData("Power", "%6.2f", robot.liftMotor.getPower());
+            telemetry.addData("Busy", robot.liftMotor.isBusy());
+            telemetry.addData("Mode", robot.liftMotor.getMode());
+            telemetry.addData("PIDF Run To Position", robot.liftMotor.getPIDFCoefficients(DcMotorEx.RunMode.RUN_TO_POSITION));
             telemetry.update();
         }
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotHardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotHardware.java
@@ -2,6 +2,7 @@
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 public class RobotHardware {
@@ -12,7 +13,7 @@ public class RobotHardware {
     public DcMotor rightFrontDrive = null;
     public DcMotor rightBackDrive = null;
 
-    public DcMotor liftMotor = null;
+    public DcMotorEx liftMotor = null;
 
     // Define a constructor that allows the OpMode to pass a reference to itself.
     public RobotHardware(LinearOpMode opMode) {
@@ -27,7 +28,7 @@ public void init() {
         rightFrontDrive = myOpMode.hardwareMap.get(DcMotor.class, "rightFrontDrive");
         rightBackDrive = myOpMode.hardwareMap.get(DcMotor.class, "rightBackDrive");
 
-        liftMotor = myOpMode.hardwareMap.get(DcMotor.class, "liftMotor");
+        liftMotor = myOpMode.hardwareMap.get(DcMotorEx.class, "liftMotor");
         liftMotor.setDirection(DcMotor.Direction.REVERSE);
         liftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);