CODE 2/17/16

[brilovescoding]

/* Copyright (c) 2014 Qualcomm Technologies Inc

All rights reserved.

Redistribution and use in source and binary forms, with or without modification,

are permitted (subject to the limitations in the disclaimer below) provided that

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of conditions and the following disclaimer.

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list of conditions and the following disclaimer in the documentation and/or

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may be used to endorse or promote products derived from this software without

specific prior written permission.

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package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;

import com.qualcomm.robotcore.hardware.DcMotor;

import com.qualcomm.robotcore.hardware.DcMotorController;

import com.qualcomm.robotcore.hardware.TouchSensor;

import com.qualcomm.robotcore.util.Range;

/**

• SteelHawks OpMode
• //

• Enables control of the robot via the gamepad

*/

public class SteelHawksOp extends OpMode {

DcMotor motorRight; //driving


DcMotor motorLeft; //driving


DcMotor harvester;


DcMotor motorArmUp;


DcMotor motorArmDump;







DcMotorController.DeviceMode devMode;


DcMotorController harvesterController;







TouchSensor autoTouch;












boolean isMoving = false;


double movingArmUpstart = 0;


double  movingArmUpend =0;


double movingArmDownstart = 0;


double  movingArmDownend =0;


double dumpArmStart = 0;


double dumpArmEnd = 0;


double closingArmStart = 0;


double closingArmEnd = 0;












/**


 * Constructor


 */


public SteelHawksOp() {







}







/*


 * Code to run when the op mode is first enabled goes here


 *


 * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()


 */


@Override


public void init() {












    /*


     * Use the hardwareMap to get the dc motors and servos by name. Note


     * that the names of the devices must match the names used when you


     * configured your robot and created the configuration file.


     */















    devMode = DcMotorController.DeviceMode.WRITE_ONLY;












    motorRight = hardwareMap.dcMotor.get("motor_2");


    motorLeft = hardwareMap.dcMotor.get("motor_1");












    motorLeft.setDirection(DcMotor.Direction.REVERSE);







    motorArmUp = hardwareMap.dcMotor.get("motor_3");


    motorArmDump = hardwareMap.dcMotor.get("motor_4");







    harvesterController = hardwareMap.dcMotorController.get("harvesterController");


    harvester = hardwareMap.dcMotor.get("harvester");







}







/*\\


 * This method will be called repeatedly in a loop


 *


 * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run()


 */


@Override


public void loop() {







    /*


     *


     *


     * Gamepad 1 controls the driving via the left and right stick of Gamepad 1


     * Gamepad 2 controls the arm and the dumping action via the left and right stick of Gamepad 2


     */







    // throttle: left_stick_y ranges from -1 to 1, where -1 is full up, and


    // 1 is full down


    // direction: left_stick_x ranges from -1 to 1, where -1 is full left


    // and 1 is full right


    float leftMotorPower = gamepad1.left_stick_y;


    float rightMotorPower = gamepad1.right_stick_y;


    float movingArmUp = gamepad2.left_stick_y;


    float dumpingArm = gamepad2.right_stick_x;












    // clip the right/left values so that the values never exceed +/- 1


    leftMotorPower = Range.clip(leftMotorPower, -1, 1);


    rightMotorPower = Range.clip(rightMotorPower, -1, 1);


    movingArmUp = Range.clip(movingArmUp, -1, 1);


    dumpingArm = Range.clip(dumpingArm, -1, 1);







    // scale the joystick value to make it easier to control


    // the robot more precisely at slower speeds.


    leftMotorPower = (float)scaleInput(leftMotorPower);


    rightMotorPower =  (float)scaleInput(rightMotorPower);


    movingArmUp=  (float)scaleInput(movingArmUp);


    dumpingArm =  (float)scaleInput(dumpingArm);

















    // write here the values for the arm motor, remember that you only need throttle and to change for gamepad2 (and left stick)

if(gamepad1.right_trigger > 0.2)
{
harvesterController.setMotorPower(1, .5)
}
else
{
harvesterController.setMotorPower(1, 0)
}
if(gamepad1.left_trigger > 0.2)
{
harvesterController.setMotorPower(1, -.5)
}
else
{
harvesterController.setMotorPower(1, 0)
}

    // write here the values for the dump motor, remember you only need the throttle and to change for gamepad2 (and right stick)







    // write the values to the motors


    motorRight.setPower(rightMotorPower);


    motorLeft.setPower(leftMotorPower);


    motorArmUp.setMotorPower(2,movingArmUp);


    motorArmDump.setPower(dumpingArm);


    harvesterController.setMotorPower(1,.5);

/*

    //SAVE THIS CODE FOR LATER IF NEEDED


    // update the position of the arm.


    if (gamepad1.y && isMoving == false) {


        // if the Y button is pushed on gamepad1, increment the position of


        // the arm servo.


        motorArm.setPower(0.2);


        isMoving = true;


        movingArmUpstart = System.currentTimeMillis();


        movingArmUpend = movingArmUpstart  + 0.5*1000;


    }


    if(movingArmUpend<System.currentTimeMillis())


    {


        motorArm.setPower(0);


        isMoving = false;


    }






    if (gamepad1.a && isMoving ==false) {


        // if the A button is pushed on gamepad1, decrease the position of


        // the arm servo.


        motorArm.setPower(-0.2);


        isMoving = true;


        movingArmDownstart = System.currentTimeMillis();


        movingArmDownend = movingArmDownstart + 0.5*1000;


    }


    if(movingArmDownend<System.currentTimeMillis())


    {


        motorArm.setPower(-0.2);


        isMoving = true;






    }






    // update the position of the claw






    if (gamepad1.x && isMoving==false) {


        // if the A button is pushed on gamepad1, decrease the position of


        // the arm servo.


        motorArmDump.setPower(0.2);


        isMoving = true;


        dumpArmStart = System.currentTimeMillis();


        dumpArmEnd = dumpArmStart + 0.5*1000;


    }


    if(dumpArmEnd<System.currentTimeMillis())


    {


        motorArm.setPower(-0.2);


        isMoving = true;






    }






    if (gamepad1.b && isMoving==false) {


        // if the A button is pushed on gamepad1, decrease the position of


        // the arm servo.


        motorArmDump.setPower(-0.2);


        isMoving = true;


        closingArmStart = System.currentTimeMillis();


        closingArmEnd = closingArmStart + 0.5*1000;






    }


    if(closingArmEnd<System.currentTimeMillis())


    {


        motorArmDump.setPower(-0.2);


        isMoving = true;






    }














    // clip the position values so that they never exceed their allowed range.










    // write position values to the wrist and claw servo

*/

    /*


     * Send telemetry data back to driver station. Note that if we are using


     * a legacy NXT-compatible motor controller, then the getPower() method


     * will return a null value. The legacy NXT-compatible motor controllers


     * are currently write only.


     */


    telemetry.addData("Text", "*** Robot Data***");


    telemetry.addData("arm", "arm:  " + String.format("%.2f", movingArmUp));


    telemetry.addData("claw", "claw:  " + String.format("%.2f", dumpingArm));


    telemetry.addData("left tgt pwr",  "left  pwr: " + String.format("%.2f", leftMotorPower));


    telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", rightMotorPower));







}







/*


 * Code to run when the op mode is first disabled goes here


 *


 * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#stop()


 */


@Override


public void stop() {







}












/*


 * This method scales the joystick input so for low joystick values, the


 * scaled value is less than linear.  This is to make it easier to drive


 * the robot more precisely at slower speeds.


 */


double scaleInput(double dVal)  {


    double[] scaleArray = { 0.0, 0.05, 0.09, 0.10, 0.12, 0.15, 0.18, 0.24,


            0.30, 0.36, 0.43, 0.50, 0.60, 0.72, 0.85, 1.00, 1.00 };







    // get the corresponding index for the scaleInput array.


    int index = (int) (dVal * 16.0);







    // index should be positive.


    if (index < 0) {


        index = -index;


    }







    // index cannot exceed size of array minus 1.


    if (index > 16) {


        index = 16;


    }







    // get value from the array.


    double dScale = 0.0;


    if (dVal < 0) {


        dScale = -scaleArray[index];


    } else {


        dScale = scaleArray[index];


    }







    // return scaled value.


    return dScale;


}

}

[lukeboi]

Are you perhaps trying to merge an upstream repository into your fork?