@Override
protected void onStart() throws InterruptedException {
super.onStart();
float power = 0.65f;
// 2 GamePadMotors instances to drive the robot forward
yGamePadMotorLeft =
new GamePadMotor(
this, gamepad1, robot.getLeftDrive(), GamePadMotor.Control.Y_BUTTON, power);
yGamePadMotorRight =
new GamePadMotor(
this, gamepad1, robot.getRightDrive(), GamePadMotor.Control.Y_BUTTON, power);
// 2 GamePadMotors instances to drive the robot backward
aGamePadMotorLeft =
new GamePadMotor(
this, gamepad1, robot.getLeftDrive(), GamePadMotor.Control.A_BUTTON, -power);
aGamePadMotorRight =
new GamePadMotor(
this, gamepad1, robot.getRightDrive(), GamePadMotor.Control.A_BUTTON, -power);
// 2 GamePadMotors instances to spin the robot Left
xGamePadMotorLeft =
new GamePadMotor(this, gamepad1, robot.getLeftDrive(), GamePadMotor.Control.X_BUTTON, 0);
xGamePadMotorRight =
new GamePadMotor(
this, gamepad1, robot.getRightDrive(), GamePadMotor.Control.X_BUTTON, power);
// 2 GamePadMotors instances to spin the robot right
bGamePadMotorLeft =
new GamePadMotor(
this, gamepad1, robot.getLeftDrive(), GamePadMotor.Control.B_BUTTON, power);
bGamePadMotorRight =
new GamePadMotor(this, gamepad1, robot.getRightDrive(), GamePadMotor.Control.B_BUTTON, 0);
step = 1;
// these are only used to set the encoder
rightMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
leftMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
// rightMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_TO_POSITION);
// leftMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_TO_POSITION);
// rightMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
// leftMotorToEncoder.startRunMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
// getTelemetryUtil().setSortByTime(true);
}
@Override
protected void onStart() throws InterruptedException {
super.onStart();
// set up tank drive operation to use the gamepad joysticks
tankDrive = new GamePadTankDrive(this, gamepad1, robot.getLeftDrive(), robot.getRightDrive());
tankDrive.startRunMode(DcMotorController.RunMode.RUN_WITHOUT_ENCODERS);
// set up arm motor operation using the gamepad's left joystick
armMotorStick =
new GamePadMotor(this, gamepad2, robot.getLeftArm(), GamePadMotor.Control.LEFT_STICK_Y);
// operate the claw with left/right buttons
claw =
new GamePadClaw(
this,
gamepad2,
robot.getLeftHand(),
robot.getRightHand(),
GamePadServo.Control.X_B,
0.5);
}