MecanumExample.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 mecanum drivetrain example.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="Mecanum Example", group="Iterative Opmode")
public class MecanumExample extends OpMode
{
    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    //F = front
    //B = back
    //L = left
    //R = right
    private DcMotor FLDrive = null;
    private DcMotor BLDrive = null;
    private DcMotor FRDrive = null;
    private DcMotor BRDrive = 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).
        FLDrive  = hardwareMap.get(DcMotor.class, "FLDrive");
        FRDrive  = hardwareMap.get(DcMotor.class, "FRDrive");
        BLDrive  = hardwareMap.get(DcMotor.class, "BLDrive");
        BRDrive  = hardwareMap.get(DcMotor.class, "BRDrive");

        // Most robots need the motor on one side to be reversed to drive forward
        // Reverse the motor that runs backwards when connected directly to the battery
        FLDrive.setDirection(DcMotor.Direction.REVERSE);
        BLDrive.setDirection(DcMotor.Direction.REVERSE);
        FRDrive.setDirection(DcMotor.Direction.FORWARD);
        BRDrive.setDirection(DcMotor.Direction.FORWARD);

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

        //Mecanum drive
        FRDrive.setPower(gamepad1.right_stick_y + gamepad1.right_stick_x);
        FLDrive.setPower(gamepad1.left_stick_y - gamepad1.left_stick_x);
        BRDrive.setPower(gamepad1.right_stick_y - gamepad1.right_stick_x);
        BLDrive.setPower(gamepad1.left_stick_y + gamepad1.left_stick_x);


        // Show the elapsed game time and wheel position.
        telemetry.addData("Status", "Run Time: " + runtime.toString());
        telemetry.addData("FL",FLDrive.getCurrentPosition());
        telemetry.addData("FR",FRDrive.getCurrentPosition());
        telemetry.addData("BL",BLDrive.getCurrentPosition());
        telemetry.addData("BR",BRDrive.getCurrentPosition());

    }

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

}