public void setCliffElevation() {
cliffElevation.setTargetPosition((int) (climberTheta * ticksPerDegree));
if (cliffRelaxDelay < System.nanoTime() && cliffRelaxDelay > 0) {
cliffRelaxDelay = 0;
cliffElevation.setPower(0);
}
}
@Override
public void init() {
// Treads.
rightTread = hardwareMap.dcMotor.get("rightTread");
leftTread = hardwareMap.dcMotor.get("leftTread");
leftTread.setDirection(DcMotor.Direction.REVERSE);
rightTread.setMode(DcMotor.RunMode.RUN_USING_ENCODERS);
leftTread.setMode(DcMotor.RunMode.RUN_USING_ENCODERS);
// Servos.
rightPusher = hardwareMap.servo.get("rightPusher");
leftPusher = hardwareMap.servo.get("leftPusher");
rightBumper = hardwareMap.servo.get("rightBumper");
leftBumper = hardwareMap.servo.get("leftBumper");
climber = hardwareMap.servo.get("climber");
rightPusher.setPosition(NeverlandServoConstants.RIGHT_PUSHER_STOWED);
leftPusher.setPosition(NeverlandServoConstants.LEFT_PUSHER_STOWED);
rightBumper.setPosition(NeverlandServoConstants.RIGHT_BUMPER_DOWN);
leftBumper.setPosition(NeverlandServoConstants.LEFT_BUMPER_DOWN);
climber.setPosition(NeverlandServoConstants.CLIMBER_STORE);
// Beacon arms.
BeaconArms beacon = new BeaconArms(rightPusher, leftPusher, true);
}
@Override
public void loop() {
loopctr++;
motorR();
// tpos=rightmotor.getTargetPosition();
// curpos=rightmotor.getCurrentPosition();
// togo=tpos-curpos;
telemetry.addData("left mode", leftmotor.getMode());
telemetry.addData("lf pos", leftmotor.getCurrentPosition());
telemetry.addData("lf to", leftmotor.getTargetPosition());
/*if (togo<=0)
{
if (runagain==true)
{
resetEncode();
rightPos=800;
leftPos=800;
run1();
runagain=false;
run3rd=true;
}
if (run3rd==true)
{
resetEncode();
rightPos=6625;
leftPos=-6625;
run1();
run3rd=false;
}
}*/
} // end of loop
@Override
public void init() {
leftmotor = hardwareMap.dcMotor.get("motor1a");
rightmotor = hardwareMap.dcMotor.get("motor1b");
mc1 = hardwareMap.dcMotorController.get("m1");
devmodeRO = DcMotorController.DeviceMode.READ_ONLY;
devmodeWO = DcMotorController.DeviceMode.WRITE_ONLY;
leftmotor.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
rightmotor.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
resetEncode();
motorW();
leftmotor.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightmotor.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
rightPos = 172;
leftPos = -172;
run1();
/*leftmotor.setPower(0);
//rightmotor.setPower(0);
motorR();
while (rightmotor.getPower() !=0 ){
// telemetry.addData("rt togo", togo);
telemetry.addData("lf pos", leftmotor.getCurrentPosition());
}
resetEncode();
rightPos=800;
leftPos=800;
run1();*/
}
@Override
public void loop() {
double rightDrive;
double leftDrive;
rightDrive = -gamepad1.right_stick_y;
leftDrive = -gamepad1.left_stick_y;
if (gamepad1.dpad_up) {
rightDrive = 0.3;
leftDrive = 0.3;
} else if (gamepad1.dpad_down) {
rightDrive = -0.3;
leftDrive = -0.3;
} else if (gamepad1.dpad_right) {
rightDrive = -0.3;
leftDrive = 0.3;
} else if (gamepad1.dpad_left) {
rightDrive = 0.3;
leftDrive = -0.3;
}
motorRight.setPower(rightDrive);
motorLeft.setPower(leftDrive);
if (gamepad1.a) {
servoClimberDumper.setPosition(1.0);
} else {
servoClimberDumper.setPosition(0.0);
}
telemetry.addData("trackLifter", Integer.toString(trackLifter.getCurrentPosition()));
telemetry.addData("liftCheck", liftCheck.isPressed());
telemetry.addData("ENCLeft", Integer.toString(motorLeft.getCurrentPosition()));
telemetry.addData("ENCRight", Integer.toString(motorRight.getCurrentPosition()));
telemetry.addData("trigger", gamepad1.right_trigger);
}
/*
* Code to run when the op mode is first enabled goes here
*
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
*/
@Override
public void init() {
/*
*
*/
motorFrontLeft = hardwareMap.dcMotor.get("frontleft"); // port1 left
motorFrontRight = hardwareMap.dcMotor.get("frontright"); // port1 right
motorBackLeft = hardwareMap.dcMotor.get("backleft"); // port2 left11a
motorBackRight = hardwareMap.dcMotor.get("backright"); // port2 right
set_drive_power(0, 0);
motorFrontRight.setDirection(DcMotor.Direction.REVERSE);
motorBackRight.setDirection(DcMotor.Direction.REVERSE);
v_sensor_ods = hardwareMap.opticalDistanceSensor.get("distanceSensor");
v_sensor_ods.enableLed(true);
// rightbaseservo = hardwareMap.servo.get("rightbase"); //port1
// leftbaseservo = hardwareMap.servo.get("leftbase"); //port6
// rightmidservo = hardwareMap.servo.get("rightmid"); //port3
// leftmidservo = hardwareMap.servo.get("leftmid"); //port5
// gripper = hardwareMap.servo.get("gripper"); //port2
// rightmidservo.setDirection(Servo.Direction.REVERSE);
// rightbaseservo.setDirection(Servo.Direction.REVERSE);
// calls=0;
// winch = hardwareMap.servo.get("winch");
// winch.setPosition(0.5);
}
@Override
public void init() {
leftMotor = hardwareMap.dcMotor.get("left_drive");
rightMotor = hardwareMap.dcMotor.get("right_drive");
navx_device =
AHRS.getInstance(
hardwareMap.deviceInterfaceModule.get("dim"),
NAVX_DIM_I2C_PORT,
AHRS.DeviceDataType.kProcessedData,
NAVX_DEVICE_UPDATE_RATE_HZ);
rightMotor.setDirection(DcMotor.Direction.REVERSE);
/* If possible, use encoders when driving, as it results in more */
/* predictable drive system response. */
leftMotor.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
rightMotor.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
/* Create a PID Controller which uses the Yaw Angle as input. */
yawPIDController =
new navXPIDController(navx_device, navXPIDController.navXTimestampedDataSource.YAW);
/* Configure the PID controller */
yawPIDController.setSetpoint(TARGET_ANGLE_DEGREES);
yawPIDController.setContinuous(true);
yawPIDController.setOutputRange(MIN_MOTOR_OUTPUT_VALUE, MAX_MOTOR_OUTPUT_VALUE);
yawPIDController.setTolerance(navXPIDController.ToleranceType.ABSOLUTE, TOLERANCE_DEGREES);
yawPIDController.setPID(YAW_PID_P, YAW_PID_I, YAW_PID_D);
yawPIDController.enable(true);
first_iteration = true;
}
private void a() {
Iterator var1 = this.hardwareMap.servoController.iterator();
while (var1.hasNext()) {
ServoController var2 = (ServoController) var1.next();
var2.pwmDisable();
}
var1 = this.hardwareMap.dcMotorController.iterator();
while (var1.hasNext()) {
DcMotorController var3 = (DcMotorController) var1.next();
var3.setMotorControllerDeviceMode(DeviceMode.WRITE_ONLY);
}
var1 = this.hardwareMap.dcMotor.iterator();
while (var1.hasNext()) {
DcMotor var4 = (DcMotor) var1.next();
var4.setPower(0.0D);
var4.setChannelMode(RunMode.RUN_WITHOUT_ENCODERS);
}
var1 = this.hardwareMap.lightSensor.iterator();
while (var1.hasNext()) {
LightSensor var5 = (LightSensor) var1.next();
var5.enableLed(false);
}
}
public void moveForwardToWall(double pow, int timeout) throws InterruptedException {
double angle = Math.abs(sensor.getGyroYaw());
double startAngle = angle;
double power = pow;
ElapsedTime time = new ElapsedTime();
time.startTime();
while (Math.abs(angle - startAngle) < 10 && time.milliseconds() < timeout) {
angle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
if (angle < startAngle - 1) {
startMotors((power * .75), power);
} else if (angle > startAngle + 1) {
startMotors(power, (power * .75));
} else {
startMotors(power, power);
}
opMode.idle();
}
stopMotors();
angleError = sensor.getGyroYaw();
opMode.telemetry.update();
}
public void moveFowardToLine(double ri, double le, int timeout) throws InterruptedException {
double angle;
double startAngle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.update();
setNullValue();
ElapsedTime time = new ElapsedTime();
time.startTime();
while (!sensor.isLeftLine() && time.milliseconds() < timeout) {
angle = Math.abs(sensor.getGyroYaw());
opMode.telemetry.addData("LeftPower", motorBL.getPower());
opMode.telemetry.addData("RightPower", motorBR.getPower());
opMode.telemetry.update();
// if(angle < startAngle - 2) {
// startMotors((power * .75), power);
// } else if(angle > startAngle + 2) {
// startMotors(power, (power * .75));
// } else {
// startMotors(power, power);
// }
startMotors(ri, le);
opMode.idle();
}
stopMotors();
opMode.telemetry.update();
angleError = sensor.getGyroYaw();
}
public int getEncoderAvg() {
return ((Math.abs(motorBR.getCurrentPosition()))
+ (Math.abs(motorBL.getCurrentPosition()))
+ (Math.abs(motorFR.getCurrentPosition()))
+ (Math.abs(motorFL.getCurrentPosition())))
/ 4;
}
private void lift(double power) {
try {
liftLeft.setPower(power);
liftRight.setPower(power);
} catch (Exception ex) {
}
}
@Override
public void loop() {
if (this.time < 6.5d) {
goForward(-1.0);
} else if (this.time < 8.0d) {
turnRight(1.0);
} else if (this.time < 11d) {
goForward(-1.0);
} else if (this.time < 14d) {
turnRight(1.0);
armUp = true;
motorArm.setPower(0.5);
if (this.time > 11.2d) {
motorArm.setPower(0.1);
}
} else if (this.time < 16) {
goForward(1.0);
motorSlide.setPower(1.0);
} else if (this.time < 18) {
stopMotors();
motorSlide.setPower(0.0);
forwardBack.setPosition(0.75);
} else if (this.time < 22) {
motorSlide.setPower(-1.0);
forwardBack.setPosition(0.5);
}
telemetry.addData("Text", "*** Robot Data***");
telemetry.addData("..", "time: " + String.format("%.2f", this.time));
}
@Override
public void init() {
/* Assigns DcMotor objects to physical motors
using Hardware Mapping */
lbMotor = hardwareMap.dcMotor.get("lbMotor");
lfMotor = hardwareMap.dcMotor.get("lfMotor");
rfMotor = hardwareMap.dcMotor.get("rfMotor");
rbMotor = hardwareMap.dcMotor.get("rbMotor");
hangRotateMotor = hardwareMap.dcMotor.get("hangRotateMotor");
hangSlideMotor = hardwareMap.dcMotor.get("hangSlideMotor");
armMotor = hardwareMap.dcMotor.get("armMotor");
/* Assigns Servo objects to physical servos
using Hardware Mapping */
climber = hardwareMap.servo.get("climber");
rSwitch = hardwareMap.servo.get("rSwitch");
lSwitch = hardwareMap.servo.get("lSwitch");
/* resets Servo positions */
climber.setPosition(CLIMBER_DOWN_POSITION);
rSwitch.setPosition(RSWITCH_CLOSED_POSITION);
lSwitch.setPosition(LSWITCH_CLOSED_POSITION);
/* runs backward motors in opposite direction */
lfMotor.setDirection(DcMotor.Direction.REVERSE);
lbMotor.setDirection(DcMotor.Direction.REVERSE);
telemetry.addData("init complete", "");
}
@Override
public void loop() {
telemetry.addData("rightEncoder = ", motorRight.getCurrentPosition());
if (motorRight.getCurrentPosition() <= -5000) {
if (finishedForward) {
finishedForward = false;
finishedTurning = true;
telemetry.addData("I did it!", motorRight.getCurrentPosition());
// wait(waitValue);
newValue = motorRight.getCurrentPosition() - 250;
motorRight.setTargetPosition(-newValue);
motorRight.setPower(.50);
motorLeft.setPower(-.50);
}
}
if (motorRight.getCurrentPosition() <= -newValue) {
if (finishedTurning) {
finishedTurning = false;
motorRight.setPower(0);
motorLeft.setPower(0);
}
}
}
@Override
public void loop() {
/* reset the navX-Model device yaw angle so that whatever direction */
/* it is currently pointing will be zero degrees. */
if (first_iteration) {
first_iteration = false;
navx_device.zeroYaw();
yawPIDResult = new navXPIDController.PIDResult();
}
/* Wait for new Yaw PID output values, then update the motors
with the new PID value with each new output value.
*/
/* Drive straight forward at 1/2 of full drive speed */
double drive_speed = 0.5;
if (yawPIDController.isNewUpdateAvailable(yawPIDResult)) {
if (yawPIDResult.isOnTarget()) {
leftMotor.setPower(drive_speed);
rightMotor.setPower(drive_speed);
} else {
double output = yawPIDResult.getOutput();
leftMotor.setPower(drive_speed + output);
rightMotor.setPower(drive_speed - output);
}
} else {
/* No sensor update has been received since the last time */
/* the loop() function was invoked. Therefore, there's no */
/* need to update the motors at this time. */
}
}
// ****************INITIALIZE METHOD****************//
public void initializeMapping() {
// Debug statements to prevent color1 error
telemetry.addData("Version", "Sensorless. COLOR ERROR SHOULD NOT SHOW UP!");
// Driving Mapping
motorLeftTread = hardwareMap.dcMotor.get("m1");
motorRightTread = hardwareMap.dcMotor.get("m2");
motorLeftSecondTread = hardwareMap.dcMotor.get("m3");
motorRightSecondTread = hardwareMap.dcMotor.get("m4");
// Sensors
// sensorRGB_1 = hardwareMap.colorSensor.get("color");
// Other Mapping
motorHangingMech = hardwareMap.dcMotor.get("m5");
srvoHang_1 = hardwareMap.servo.get("s1");
srvoHang_2 = hardwareMap.servo.get("s2");
/*srvoDong_Left = hardwareMap.servo.get("s3"); //The left servo
srvoDong_Right = hardwareMap.servo.get("s4"); //The right servo
srvoPushButton = hardwareMap.servo.get("s5");
srvoScoreClimbers = hardwareMap.servo.get("s6");*/
// set the direction of the motors
motorRightTread.setDirection(DcMotor.Direction.REVERSE);
motorRightSecondTread.setDirection(DcMotor.Direction.REVERSE);
telemetry.addData("Version", "non autonomous. COLOR ERROR SHOULD NOT SHOW UP!");
}
/**
* This method does all of the things required to make each side of the robot move forward by the
* given amounts. Seriously, It changes the channelMode, It calculates the pulse counts
* Everything! If you understand java and can't use this, you don't deserve to!
*/
public void measuredDrive(double Rdist, double Ldist) {
double frrot = Rdist / frontCirc;
double flrot = Ldist / frontCirc;
double rPow = .5, lPow = .5;
leftMotorf.setTargetPosition((int) flrot * pulsePerRot);
rightMotorf.setTargetPosition((int) frrot * pulsePerRot);
if (!encodersEnabled) {
enableEncoders(true);
}
if (Rdist < 0) {
rPow = -rPow;
} else if (Rdist == 0) {
rPow = 0;
}
if (Ldist < 0) {
lPow = -lPow;
} else if (Ldist == 0) {
lPow = 0;
}
leftMotorf.setPower(frontRatio * lPow);
rightMotorf.setPower(frontRatio * rPow);
}
@Override
public void stop(RobotContext ctx, LinkedList<Object> out) throws Exception {
driveForwardLeft.setPower(0);
driveForwardRight.setPower(0);
driveRearRight.setPower(0);
driveRearRight.setPower(0);
}
@Override
public void loop() {
// Gamepad 1 - Drive Controller
float rightDriveMotorSpeed = -gamepad1.right_stick_y;
float leftDriveMotorSpeed = -gamepad1.left_stick_y;
rightDriveMotorSpeed = Range.clip(rightDriveMotorSpeed, -1, 1);
leftDriveMotorSpeed = Range.clip(leftDriveMotorSpeed, -1, 1);
rightDriveMotorSpeed = (float) scaleInput(rightDriveMotorSpeed);
leftDriveMotorSpeed = (float) scaleInput(leftDriveMotorSpeed);
System.out.println(rightDriveMotorSpeed);
driveRight.setPower(rightDriveMotorSpeed);
driveLeft.setPower(leftDriveMotorSpeed);
if (gamepad1.a & hookServoClick == 0) {
hookServoPosition -= hookServoDelta;
System.out.println(hookServoPosition);
hookServoClick = 1;
hookServo.setPosition(hookServoPosition);
}
if (gamepad1.a & hookServoClick == 1) {
hookServoPosition += hookServoDelta;
System.out.println(hookServoPosition);
hookServoClick = 0;
hookServo.setPosition(hookServoPosition);
}
if (gamepad1.x & triggerServoClick == 0) {
triggerServoPosition -= triggerServoDelta;
System.out.println(triggerServoPosition);
triggerServoClick = 1;
triggerServo.setPosition(triggerServoPosition);
}
if (gamepad1.x & triggerServoClick == 1) {
triggerServoPosition += triggerServoDelta;
System.out.println(triggerServoPosition);
triggerServoClick = 0;
triggerServo.setPosition(triggerServoPosition);
}
// Gamepad 2
float armStage1MotorSpeed = -gamepad2.right_stick_y;
float armStage2MotorSpeed = -gamepad2.left_stick_y;
armStage1MotorSpeed = Range.clip(armStage1MotorSpeed, -1, 1);
armStage2MotorSpeed = Range.clip(armStage2MotorSpeed, -1, 1);
armStage1MotorSpeed = (float) scaleInput(armStage1MotorSpeed);
armStage2MotorSpeed = (float) scaleInput(armStage2MotorSpeed);
armStage1.setPower(armStage1MotorSpeed);
armStage2.setPower(armStage2MotorSpeed);
}
public void rest() {
fr.setPower(0);
fl.setPower(0);
bl.setPower(0);
br.setPower(0);
collector.setPower(0);
}
/*
* This method will be called repeatedly in a loop
*
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run()
*/
@Override
public void loop() {
double reflection = 0.0;
double left, right = 0.0;
// keep manipulator out of the way.
arm.setPosition(armPosition);
claw.setPosition(clawPosition);
/*
* Use the 'time' variable of this op mode to determine
* how to adjust the motor power.
*/
if (this.time <= 1) {
// from 0 to 1 seconds, run the motors for five seconds.
left = 0.15;
right = 0.15;
} else if (this.time > 5 && this.time <= 8.5) {
// between 5 and 8.5 seconds, point turn right.
left = 0.15;
right = -0.15;
} else if (this.time > 8.5 && this.time <= 15) {
// between 8 and 15 seconds, idle.
left = 0.0;
right = 0.0;
} else if (this.time > 15d && this.time <= 20.75d) {
// between 15 and 20.75 seconds, point turn left.
left = -0.15;
right = 0.15;
} else {
// after 20.75 seconds, stop.
left = 0.0;
right = 0.0;
}
/*
* set the motor power
*/
motorRight.setPower(left);
motorLeft.setPower(right);
/*
* read the light sensor.
*/
// reflection = reflectedLight.getLightLevel();
/*
* 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("time", "elapsed time: " + Double.toString(this.time));
telemetry.addData("reflection", "reflection: " + Double.toString(reflection));
telemetry.addData("left tgt pwr", "left pwr: " + Double.toString(left));
telemetry.addData("right tgt pwr", "right pwr: " + Double.toString(right));
}
/*
* This method will be called repeatedly in a loop
*
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run()
*/
@Override
public void loop() {
/*
* Gamepad 1
*
* Gamepad 1 controls the motors via the left stick, and it controls the
* wrist/claw via the a,b, x, y buttons
*/
// 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 left_throttle = -gamepad1.left_stick_y;
float right_throttle = -gamepad1.right_stick_y;
// scale the joystick value to make it easier to control
// the robot more precisely at slower speeds.
left_throttle = (float) scaleInput(left_throttle);
right_throttle = (float) scaleInput(right_throttle);
// write the values to the motors
front_right.setPower(right_throttle);
back_right.setPower(right_throttle);
front_left.setPower(left_throttle);
back_left.setPower(left_throttle);
// update the position of the arm.
if (gamepad1.y) {
// if the A button is pushed on gamepad1, increment the position of
// the arm servo.
spinnerPosition += spinnerDelta;
}
if (gamepad1.a) {
// if the Y button is pushed on gamepad1, decrease the position of
// the arm servo.
spinnerPosition -= spinnerDelta;
}
// clip the position values so that they never exceed their allowed range.
spinnerPosition = Range.clip(spinnerPosition, 0.0, 1.0);
// write position values to the wrist and claw servo
spinner.setPosition(spinnerPosition);
/*
* 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", armPosition));
telemetry.addData("claw", "claw: " + String.format("%.2f", clawPosition));
telemetry.addData("left tgt pwr", "left pwr: " + String.format("%.2f", left));
telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", right));
}
private void tankDrive(double leftY, double rightY) throws InterruptedException {
rightY = -rightY; // flip the power of the right side
leftfrontMotor.setPower(leftY); // set the according power to each motor
leftbackMotor.setPower(leftY);
rightfrontMotor.setPower(rightY);
rightbackMotor.setPower(rightY);
}
/**
* Applies power to lift motors based on value in {@code double direction, angle} set in {@link
* DriverStation#getNextDrivesysCmd()}.
*
* @param driverCommand {@link DriverCommand} object with values.
*/
public void applyCmd(DriverCommand driverCommand) {
if (liftArmLengthMotorAvailable) {
liftArmLengthMotor.setPower(driverCommand.linliftcmd.armLength);
}
if (liftAngleMotorAvailable) {
liftAngleMotor.setPower(driverCommand.linliftcmd.angle);
}
}
public void resetEncode() {
motorW();
leftmotor.setMode(DcMotorController.RunMode.RESET_ENCODERS);
rightmotor.setMode(DcMotorController.RunMode.RESET_ENCODERS);
motorR();
while (leftmotor.getCurrentPosition() != 0) {}
return;
}
@Override
public void init_loop() {
// Reverses the Right Wheel
driveRight.setDirection(DcMotor.Direction.REVERSE);
// Sets motors to run without incoders
driveLeft.setChannelMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
driveRight.setChannelMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
}
public void getEncoderValues() {
telemetry.addData("motorBL", motorBL.getCurrentPosition());
telemetry.addData("motorFR", motorFR.getCurrentPosition());
telemetry.addData("motorBR", motorBR.getCurrentPosition());
telemetry.addData("motorFL", motorFL.getCurrentPosition());
}
@Override
public void init() {
left1 = hardwareMap.dcMotor.get("motor1");
right1 = hardwareMap.dcMotor.get("motor2");
left2 = hardwareMap.dcMotor.get("motor3");
right2 = hardwareMap.dcMotor.get("motor4");
left1.setDirection(DcMotor.Direction.REVERSE);
left2.setDirection(DcMotor.Direction.REVERSE);
}
/**
* This method just sets the power of the Left and right motors to the provided values It also
* scales the power to the front motors.
*/
public void tankDrive(double leftVal, double rightVal) {
if (encodersEnabled) {
enableEncoders(false);
}
leftMotorf.setPower(frontRatio * leftVal);
rightMotorf.setPower(frontRatio * rightVal);
}