RobotHardware.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;

public class RobotHardware {

    /* Declare OpMode members. */
    private LinearOpMode myOpMode = null;   // gain access to methods in the calling OpMode.

    // Define Motor and Servo objects  (Make them private so they can't be accessed externally)
    protected DcMotor frontLeft   = null;
    protected DcMotor frontRight  = null;
    protected DcMotor backLeft = null;
    protected DcMotor backRight = null;

    // Define Drive constants.  Make them public so they CAN be used by the calling OpMode
    public static final double MID_SERVO       =  0.5 ;
    public static final double HAND_SPEED      =  0.02 ;  // sets rate to move servo
    public static final double ARM_UP_POWER    =  0.45 ;
    public static final double ARM_DOWN_POWER  = -0.45 ;

    // Define a constructor that allows the OpMode to pass a reference to itself.
    public RobotHardware(LinearOpMode opmode) {
        myOpMode = opmode;
    }

    /**
     * Initialize all the robot's hardware.
     * This method must be called ONCE when the OpMode is initialized.
     * <p>
     * All of the hardware devices are accessed via the hardware map, and initialized.
     */
    public void init()    {
        // Define and Initialize Motors (note: need to use reference to actual OpMode).
        frontLeft  = myOpMode.hardwareMap.get(DcMotor.class, "front_left");
        frontRight = myOpMode.hardwareMap.get(DcMotor.class, "front_right");
        backLeft = myOpMode.hardwareMap.get(DcMotor.class, "back_left");
        backRight = myOpMode.hardwareMap.get(DcMotor.class, "back_right");

        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips

//        // AP: As long as all the left motors' directions are different from the right ones it should be fine
        frontLeft.setDirection(DcMotor.Direction.REVERSE);
        backLeft.setDirection(DcMotor.Direction.FORWARD);
        frontRight.setDirection(DcMotor.Direction.REVERSE);
        backRight.setDirection(DcMotor.Direction.REVERSE);
//
//        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
//
//        // AP: We have encoders but I'm not sure if we're gonna use them
//        frontLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        backLeft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//        backRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Define and initialize ALL installed servos.
//        leftHand = myOpMode.hardwareMap.get(Servo.class, "left_hand");
//        rightHand = myOpMode.hardwareMap.get(Servo.class, "right_hand");
//        leftHand.setPosition(MID_SERVO);
//        rightHand.setPosition(MID_SERVO);

        myOpMode.telemetry.addLine("Hardware Initialized");
        myOpMode.telemetry.update();
    }

    // AP: We don't need this because we have fancy wheels
//    public void driveRobot(double Drive, double Turn) {
//        // Combine drive and turn for blended motion.
//        double left  = Drive + Turn;
//        double right = Drive - Turn;
//
//        // Scale the values so neither exceed +/- 1.0
//        double max = Math.max(Math.abs(left), Math.abs(right));
//        if (max > 1.0)
//        {
//            left /= max;
//            right /= max;
//        }
//
//        // Use existing function to drive both wheels.
//        setDrivePower(left, right);
//    }


    //AP: This is all servo stuff that we can't make use of yet
//    public void setArmPower(double power) {
//        armMotor.setPower(power);
//    }
//
//    /**
//     * Send the two hand-servos to opposing (mirrored) positions, based on the passed offset.
//     *
//     * @param offset
//     */
//    public void setHandPositions(double offset) {
//        offset = Range.clip(offset, -0.5, 0.5);
//        leftHand.setPosition(MID_SERVO + offset);
//        rightHand.setPosition(MID_SERVO - offset);
//    }
}