예제 #1
0
  @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);
  }
예제 #2
0
  @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);
  }