Launchertest.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

/*
 * This file contains an example of a Linear "OpMode".
 * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
 * The names of OpModes appear on the menu of the FTC Driver Station.
 * When a selection is made from the menu, the corresponding OpMode is executed.
 *
 * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
 * This code will work with either a Mecanum-Drive or an X-Drive train.
 * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
 * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
 *
 * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
 *
 * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
 * Each motion axis is controlled by one Joystick axis.
 *
 * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
 * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
 * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
 *
 * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
 * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
 * the direction of all 4 motors (see code below).
 *
 * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
 */

@TeleOp(name="Launchertest", group="Linear OpMode")
@Disabled
public class Launchertest extends LinearOpMode {

    // Declare OpMode members for each of the 4 motors.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor launcher_right = null;
    private DcMotor launcher_left = null;
    private CRServo top_left = null;
    private CRServo top_right = null;
    private CRServo bottom_left = null;
    private CRServo bottom_right = null;



    @Override
    public void runOpMode() {

        // Initialize the hardware variables. Note that the strings used here must correspond
        // to the names assigned during the robot configuration step on the DS or RC devices.
        launcher_right  = hardwareMap.get(DcMotor.class, "launcher_right");
        launcher_left  = hardwareMap.get(DcMotor.class, "launcher_left");
        top_left = hardwareMap.get(CRServo.class, "top_left");
        top_right = hardwareMap.get(CRServo.class, "top_right");
        bottom_left = hardwareMap.get(CRServo.class, "bottom_left");
        bottom_right = hardwareMap.get(CRServo.class, "bottom_right");

        // ########################################################################################
        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
        // ########################################################################################
        // Most robots need the motors on one side to be reversed to drive forward.
        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
        launcher_right.setDirection(DcMotor.Direction.FORWARD);
        launcher_left.setDirection(DcMotor.Direction.REVERSE);



        // Wait for the game to start (driver presses START)
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            double launcherpower = gamepad2.right_trigger;


            launcher_right.setPower(launcherpower);
            launcher_left.setPower(launcherpower);
            top_left.setPower(-gamepad2.left_stick_y);
            top_right.setPower(gamepad2.left_stick_y);
            bottom_left.setPower(-gamepad2.right_stick_y);
            bottom_right.setPower(gamepad2.right_stick_y);


            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("Power", launcherpower);
            telemetry.addData("Top Servo", gamepad2.left_stick_y);
            telemetry.addData("Bottom Servo", gamepad2.right_stick_y);
            telemetry.update();
        }
    }}