yeet dab fam maker fair stuff

FTC7729 · Mar 16, 2018 · 5681ae3 · 5681ae3
1 parent ef3daf2
commit 5681ae3
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Showing 4 changed files with 83 additions and 15 deletions.
diff --git a/FtcRobotController/src/main/java/chawks/teleop/HolonomicTankKBottt.java b/FtcRobotController/src/main/java/chawks/teleop/HolonomicTankKBottt.java
@@ -8,7 +8,7 @@
 import chawks.hardware.DrivingDirection;
 
 @TeleOp(name = "Holonomic Tank KBottt", group = "TeleOp")
-@Disabled
+
 public class HolonomicTankKBottt extends KBotTheTank {
     /**
      * The value "K" should never equal or be less than 0 as there will be no clockwise movement

diff --git a/FtcRobotController/src/main/java/chawks/teleop/KBotTheTank.java b/FtcRobotController/src/main/java/chawks/teleop/KBotTheTank.java
@@ -9,7 +9,7 @@
 //import chawks.hardware.ShootingController;
 
 @TeleOp(name = "KBOT DA TANK", group = "TeleOp")
-@Disabled
+
 public class KBotTheTank extends AbstractTeleOpKBot {
 
 
@@ -56,10 +56,10 @@ public void handleGamePad1(Gamepad gamepad) {
                     rightPower = -STRAFE_SPEED;
                     break;
             }
-            robot.LFMotor.setPower(leftPower);
-            robot.RFMotor.setPower(rightPower);
-            robot.LBMotor.setPower(-leftPower);
-            robot.RBMotor.setPower(-rightPower);
+            robot.LFMotor.setPower(leftPower/4);
+            robot.RFMotor.setPower(rightPower/4);
+            robot.LBMotor.setPower(-leftPower/4);
+            robot.RBMotor.setPower(-rightPower/4);
             return;
         } else if (isDPADRight) {
             float leftPower;
@@ -76,10 +76,10 @@ public void handleGamePad1(Gamepad gamepad) {
                     break;
             }
 
-            robot.LFMotor.setPower(leftPower);
-            robot.RFMotor.setPower(rightPower);
-            robot.LBMotor.setPower(-leftPower);
-            robot.RBMotor.setPower(-rightPower);
+            robot.LFMotor.setPower(leftPower/4);
+            robot.RFMotor.setPower(rightPower/4);
+            robot.LBMotor.setPower(-leftPower/4);
+            robot.RBMotor.setPower(-rightPower/4);
             return;
 
         }
@@ -102,10 +102,10 @@ public void handleGamePad1(Gamepad gamepad) {
                 break;
         }
 
-        robot.LBMotor.setPower(leftPower);
-        robot.LFMotor.setPower(leftPower);
-        robot.RFMotor.setPower(rightPower);
-        robot.RBMotor.setPower(rightPower);
+        robot.LBMotor.setPower(leftPower/4);
+        robot.LFMotor.setPower(leftPower/4);
+        robot.RFMotor.setPower(rightPower/4);
+        robot.RBMotor.setPower(rightPower/4);
 
 
     }

diff --git a/FtcRobotController/src/main/java/chawks/teleop/NextGenHolonomicWIthLift.java b/FtcRobotController/src/main/java/chawks/teleop/NextGenHolonomicWIthLift.java
@@ -168,7 +168,7 @@ else if(isButtonA) {
                 robot.Elevate.setPower(0);
             }
         }
-
+//qwertyuiop
 
         /*if (isDpadUp && !MRLimitSwitch.getState()){
             robot.Elevate.setPower(.5);

diff --git a/FtcRobotController/src/main/java/chawks/teleop/NextGenMakerFar.java b/FtcRobotController/src/main/java/chawks/teleop/NextGenMakerFar.java
@@ -0,0 +1,68 @@
+package chawks.teleop;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
+import com.qualcomm.robotcore.hardware.Gamepad;
+//import chawks.hardware.ShootingController;
+
+@TeleOp(name = "NextGenMakerFar", group = "StatesTeleOp")
+//@Disabled
+public class NextGenMakerFar extends AbstractTeleOpNextGen {
+    //A Digital Input.
+    //DigitalChannel MRLimitSwitch;
+    //CDI. Using this, we can read any digital sensor on this CDI without creating an instance for each sensor.
+
+    DeviceInterfaceModule cdi;
+
+    public void init() {
+        //telemetry.addData("Entering Init","YAy");
+        //telemetry.update();
+        super.init();
+        while (robot.LimitSwitch.getState() == true) {
+            //telemetry.addData("Resetting:","Encoder");
+            //telemetry.update();
+            robot.Elevate.setPower(-0.175);
+            /*if (opModeIsActive() == false) {
+                robot.Elevate.setPower(0);
+                return;
+            }*/
+        }
+        while (robot.LimitSwitchTilt.getState() == true) {
+            robot.Lift_Tilt.setPower(-0.4);
+        }
+        telemetry.addData("Switch touched Tilt", "o");
+        robot.Elevate.setPower(0);
+        robot.Lift_Tilt.setPower(0);
+        robot.Lift_Tilt.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.Lift_Tilt.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        robot.Elevate.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.Elevate.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+    }
+
+    public float STRAFE_SPEED = 1.0F; //setting to a higher speed
+
+
+    @Override
+    public void handleGamePad1(Gamepad gamepad) {
+        double r = Math.hypot(gamepad.left_stick_x, gamepad.left_stick_y);
+        double robotAngle = Math.atan2(gamepad.left_stick_y, gamepad.left_stick_x) - Math.PI / 4;
+        double rightX = gamepad.right_stick_x;
+        final double v1 = r * Math.cos(robotAngle) - rightX;
+        final double v2 = r * Math.sin(robotAngle) + rightX;
+        final double v3 = r * Math.sin(robotAngle) - rightX;
+        final double v4 = r * Math.cos(robotAngle) + rightX;
+
+
+        robot.LFMotor.setPower(v3);
+        robot.RFMotor.setPower(v4);
+        robot.LBMotor.setPower(v1);
+        robot.RBMotor.setPower(v2);
+    }
+    public void handleGamePad2(Gamepad gamepad){
+
+    }
+
+
+}
+