Cleaned up some variables to satisfy style checker.

edinabucketbrigade · Nov 17, 2024 · f3c255e · f3c255e
1 parent 4a79133
commit f3c255e
Showing 1 changed file with 9 additions and 11 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EncoderTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EncoderTest.java
@@ -35,7 +35,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
@@ -47,14 +46,9 @@
 @TeleOp(name = "Encoder Test", group = "Test")
 //@Disabled
 public class EncoderTest extends OpMode {
-    private ElapsedTime runtime = new ElapsedTime();
+    private final ElapsedTime runtime = new ElapsedTime();
     private GamepadEx gamePad;
     private DcMotorEx motor;
-    private final float ENCODER_INCREMENT = 145.1f * 50f; // 10 revolutions
-    private final double MAX_VELOCITY = 2900;
-    private double RUN_VELOCITY = MAX_VELOCITY * .7f;
-    private PIDFCoefficients pidfVelocityCoefficients;
-    private PIDFCoefficients pidfPositionCoefficients;
 
     /**
      * This method will be called once, when the INIT button is pressed.
@@ -71,8 +65,8 @@ public void init() {
         // Use encoders to enable manual movement of the motor to deternmine position values.
         motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        pidfVelocityCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER);
-        pidfPositionCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_TO_POSITION);
+        PIDFCoefficients pidfVelocityCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER);
+        PIDFCoefficients pidfPositionCoefficients = motor.getPIDFCoefficients(DcMotor.RunMode.RUN_TO_POSITION);
         // These values are recommended as a starting point if you are tuning a PID.
         pidfVelocityCoefficients.p = 1.063f;
         pidfVelocityCoefficients.i = 1.063f;
@@ -113,7 +107,11 @@ public void start() {
     @Override
     public void loop() {
         gamePad.readButtons();
-        telemetry.addData("Status", "Run Time: " + runtime.toString());
+        telemetry.addData("Status", "Run Time: " + runtime);
+        // The actual increment and speed will depend on the motor you are testing.
+        float ENCODER_INCREMENT = 5000f;
+        double MAX_VELOCITY = 2900;
+        double RUN_VELOCITY = MAX_VELOCITY * .7f;
         if (gamePad.wasJustPressed(GamepadKeys.Button.DPAD_UP)) {
             motor.setTargetPosition((int) (motor.getCurrentPosition() + ENCODER_INCREMENT));
             motor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
@@ -156,7 +154,7 @@ public void stop() {
      * This seems to be the only way to reliably stop a motor and reset the encoder.
      * This wos only tested on a goBilda motor.
      *
-     * @param motor
+     * @param motor  Motor to stop.
      */
     private void stopAndResetEncoder(DcMotorEx motor) {
         motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);