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);
}
}
/*
* Code to run when the op mode is first enabled goes here
*
* @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
*/
@Override
public void init() {
/*
* Use the hardwareMap to get the dc motors and servos by name.
* Note that the names of the devices must match the names used
* when you configured your robot and created the configuration file.
*/
/*
* For the demo Tetrix K9 bot we assume the following,
* There are two motors "motor_1" and "motor_2"
* "motor_1" is on the right side of the bot.
* "motor_2" is on the left side of the bot..
*
* We also assume that there are two servos "servo_1" and "servo_6"
* "servo_1" controls the arm joint of the manipulator.
* "servo_6" controls the claw joint of the manipulator.
*/
motorRight = hardwareMap.dcMotor.get("motor_2");
motorLeft = hardwareMap.dcMotor.get("motor_1");
motorLeft.setDirection(DcMotor.Direction.REVERSE);
arm = hardwareMap.servo.get("servo_1");
claw = hardwareMap.servo.get("servo_6");
// set the starting position of the wrist and claw
armPosition = 0.4;
clawPosition = 0.25;
/*
* We also assume that we have a LEGO light sensor
* with a name of "light_sensor" configured for our robot.
*/
reflectedLight = hardwareMap.lightSensor.get("light_sensor");
// turn on LED of light sensor.
reflectedLight.enableLed(true);
}
