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FtcTeleOpK9TankDrive.java
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/*
* Copyright (c) 2015 Titan Robotics Club (http://www.titanrobotics.com)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package TrcFtcSamples;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import TrcCommonLib.trclib.TrcGameController;
import TrcCommonLib.trclib.TrcRobot;
import TrcFtcLib.ftclib.FtcGamepad;
import TrcFtcLib.ftclib.FtcOpMode;
/**
* This opmode demonstrates TeleOp Tank Drive on the K9Robot.
*/
@TeleOp(name="TeleOp: K9Bot Tank Drive", group="TrcFtcSamples")
@Disabled
public class FtcTeleOpK9TankDrive extends FtcOpMode implements TrcGameController.ButtonHandler
{
private K9Robot robot;
private FtcGamepad gamepad;
//
// Implements FtcOpMode abstract methods.
//
@Override
public void robotInit()
{
robot = new K9Robot();
//
// Initializing Gamepads.
//
gamepad = new FtcGamepad("Gamepad", gamepad1, this);
gamepad.setYInverted(true);
} //robotInit
//
// Overrides TrcRobot.RobotMode methods.
//
@Override
public void startMode(TrcRobot.RunMode prevMode, TrcRobot.RunMode nextMode)
{
robot.startMode();
} //startMode
@Override
public void stopMode(TrcRobot.RunMode prevMode, TrcRobot.RunMode nextMode)
{
robot.stopMode();
} //stopMode
@Override
public void periodic(double elapsedTime, boolean slowPeriodicLoop)
{
if (slowPeriodicLoop)
{
//
// DriveBase subsystem.
//
double left = gamepad.getLeftStickY(true);
double right = gamepad.getRightStickY(true);
robot.driveBase.tankDrive(left, right);
robot.dashboard.displayPrintf(1, "Text: *** Robot Data ***");
robot.dashboard.displayPrintf(2, "arm: %.2f", robot.arm.getPosition());
robot.dashboard.displayPrintf(3, "claw: %.2f", robot.claw.getPosition());
robot.dashboard.displayPrintf(4, "left power: %.2f", left);
robot.dashboard.displayPrintf(5, "right power: %.2f", right);
}
} //periodic
//
// Implements TrcGameController.ButtonHandler interface.
//
@Override
public void buttonEvent(TrcGameController gamepad, int button, boolean pressed)
{
if (gamepad == this.gamepad)
{
switch (button)
{
case FtcGamepad.GAMEPAD_A:
if (pressed)
{
robot.arm.setPosition(K9Robot.ARM_RANGE_MAX, K9Robot.SERVO_STEPRATE);
}
else
{
robot.arm.cancel();
}
break;
case FtcGamepad.GAMEPAD_Y:
if (pressed)
{
robot.arm.setPosition(K9Robot.ARM_RANGE_MIN, K9Robot.SERVO_STEPRATE);
}
else
{
robot.arm.cancel();
}
break;
case FtcGamepad.GAMEPAD_X:
if (pressed)
{
robot.claw.setPosition(K9Robot.CLAW_RANGE_MAX, K9Robot.SERVO_STEPRATE);
}
else
{
robot.claw.cancel();
}
break;
case FtcGamepad.GAMEPAD_B:
if (pressed)
{
robot.claw.setPosition(K9Robot.CLAW_RANGE_MIN, K9Robot.SERVO_STEPRATE);
}
else
{
robot.claw.cancel();
}
break;
}
}
} //buttonEvent
} //class FtcTeleOpK9TankDrive