@Override
public void init_loop() {
Util.log();
Util.telemetry("init_loop", "");
if (!menuDone) {
menuDone = menu.getChoiceLoop();
} else {
choice = menu.getSelectedChoice();
choiceValue = (Options) menu.getChoiceValue(choice);
telemetry.clearData();
if (choiceValue == null) {
Util.telemetry("Menu selection", "%d", choice);
Util.log("Menu selection: %d", choice);
} else {
Util.telemetry("Menu selection", "%d=%s", choice, choiceValue.name());
Util.log("Menu selection: %d=%s", choice, choiceValue.name());
}
}
}
//
// This method will be called repeatedly in a loop
// @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
//
@Override
public void loop() {
String selectedOption = "";
long startTime = System.currentTimeMillis();
M_driveRightPower = gamepad1.right_stick_y;
M_driveLeftPower = gamepad1.left_stick_y;
if (gamepad1.a && A_upDownServoPos > Servo.MIN_POSITION) A_upDownServoPos -= 0.01d;
else if (gamepad1.b && A_upDownServoPos < Servo.MAX_POSITION) A_upDownServoPos += 0.01d;
if (gamepad1.x && A_sideSideServoPos < Servo.MAX_POSITION) A_sideSideServoPos += 0.01d;
else if (gamepad1.y && A_sideSideServoPos > Servo.MIN_POSITION) A_sideSideServoPos -= 0.01d;
// setting hardware
M_driveRight.setPower(M_driveRightPower);
M_driveLeft.setPower(M_driveLeftPower);
S_sideSide.setPosition(Range.clip(A_sideSideServoPos, 0.0, 1.0));
S_upDown.setPosition(Range.clip(A_upDownServoPos, 0.0, 1.0));
// Employ the enum option set in init_loop with if and switch statements.
if (choiceValue == Options.Option_1) selectedOption = "Option 1";
switch (choiceValue) {
case Option_2:
selectedOption = "Option 2";
break;
case Option_3:
selectedOption = "Option 3";
break;
}
// display telemetry on DS. line labels are sorted.
Util.telemetry(
"1-LeftGP",
"LY=%.2f LP=%.2f RY=%.2f RP=%.2f",
gamepad1.left_stick_y,
M_driveLeftPower,
gamepad1.right_stick_y,
M_driveRightPower);
Util.telemetry(
"Buttons",
"t=%b x=%b a=%b b=%b y=%b",
I_touch.isPressed(),
gamepad1.x,
gamepad1.a,
gamepad1.b,
gamepad1.y);
Util.telemetry("UpDwn Servo", "Sup=%.2f real=%.2f", A_upDownServoPos, S_upDown.getPosition());
Util.telemetry(
"Sidew Servo", "Sup=%.2f real=%.2f", A_sideSideServoPos, S_sideSide.getPosition());
// Util.telemetry("Options", "String=%s Enum=%s SelEnum=%s", option,
// enumOption.toString(), selectedEnumOption);
Util.telemetry("Menu selection", "%d=%s (%s)", choice, choiceValue.name(), selectedOption);
Util.telemetry("Outside Loop Time", Long.toString(startTime - lastLoopTime));
long endTime = System.currentTimeMillis();
Util.telemetry("Loop Time", Long.toString(endTime - startTime));
lastLoopTime = endTime;
}
