EncoderExample.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;

/**
 * This file contains an example of an iterative (Non-Linear) "OpMode".
 * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
 * The names of OpModes appear on the menu of the FTC Driver Station.
 * When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode is part of FTC Team 11574 Incognito's encoder example.
 */

@TeleOp(name="Encoder Example", group="Iterative Opmode")
public class EncoderExample extends OpMode
{
    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor encoderMotor = null;

    /*
     * Code to run ONCE when the driver hits INIT
     */
    @Override
    public void init() {
        telemetry.addData("Status", "Initialized");

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must correspond to the names assigned during the robot configuration
        // step (using the FTC Robot Controller app on the phone).
        encoderMotor  = hardwareMap.get(DcMotor.class, "encoderMotor");

        //Uncomment this line if you would like to reset encoders each time you init.
        //The uncommented option is the preferred option for when you run your robot using encoders.
        encoderMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        //We aren't actually running via encoder in TeleOp - this simply allows us to check the position of the wheels
        encoderMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Tell the driver that initialization is complete.
        telemetry.addData("Status", "Initialized");

    }

    /*
     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
     */
    @Override
    public void init_loop() {
    }

    /*
     * Code to run ONCE when the driver hits PLAY
     */
    @Override
    public void start() {
        runtime.reset();
    }

    /*
     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
     */
    @Override
    public void loop() {
        // Setup a variable for each drive wheel to save power level for telemetry
        double motorPower;

        //Set power
        motorPower = gamepad1.right_stick_y;

        // Send power to wheels
        encoderMotor.setPower(motorPower);

        // Show the elapsed game time and wheel power.
        telemetry.addData("Status", "Run Time: " + runtime.toString());
        telemetry.addData("Motors", "motorPower (%.2f)", motorPower);
        telemetry.addData("encoderMotor", encoderMotor.getCurrentPosition());
    }

    /*
     * Code to run ONCE after the driver hits STOP
     */
    @Override
    public void stop() {
    }

}