Master

FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Schedule.java

@@ -0,0 +1,20 @@
+package org.firstinspires.ftc.teamcode;
+
+import androidx.annotation.NonNull;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class Schedule {
+    List CommandList = new ArrayList();
+
+    public void Scheduler() {
+    }
+    public void add(String Command){
+        CommandList.add(Command);
+    }
+
+    public void update(){
+
+    }
+}

FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ServoControlExample.java

@@ -0,0 +1,54 @@
+package org.firstinspires.ftc.teamcode;// Import necessary classes from the FTC SDK
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+// Define your custom OpMode class
+@TeleOp(name = "ServoControlExample", group = "FTC")
+public class ServoControlExample extends LinearOpMode {
+
+    // Declare servo and other variables
+
+    private ElapsedTime runtime = new ElapsedTime();
+    Servo servo1;
+
+    @Override
+    public void runOpMode() {
+
+        // Initialize servo
+        servo1 = hardwareMap.get(Servo.class, "servo1");
+
+        // Wait for the start button to be pressed on the driver station
+        waitForStart();
+
+        // Main loop
+        while (opModeIsActive()) {
+
+            // Control the servo position
+
+
+            {
+
+                    // Add telemetry to display servo position on the driver station
+                while (opModeIsActive()) {
+                    if(gamepad1.x) {
+                        double targetPosition = 1;  // Adjust this value as needed
+                        servo1.setPosition(1.0);
+                    }
+                    telemetry.addData("Servo Position", servo1.getPosition());
+                    telemetry.addData("Status", "Initialized");
+                    servo1 = hardwareMap.servo.get("servo1");
+                    telemetry.addData("Status", "Run Time: " + runtime.toString());
+                    telemetry.update();
+
+                    // Sleep for a short period to avoid continuous servo movement
+                    sleep(1);  // Adjust the sleep time as needed
+                }
+                }
+            }
+        }
+    }

FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.java

@@ -0,0 +1,104 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+@TeleOp
+
+public class Test extends LinearOpMode {
+
+//Initialise motors, classes, and sensors here
+
+    private DcMotor Arm1;
+   //private DcMotor Left_Front;
+   //private DcMotor Right_Front;
+   //private DcMotor Left_Back;
+   //private DcMotor Right_Back;
+
+    PID1 PID = new PID1(1,1,1);
+
+
+    @Override
+
+    public void runOpMode() throws InterruptedException {
+        //Left_Front = hardwareMap.dcMotor.get("Left_Front");
+        //Right_Front = hardwareMap.dcMotor.get("Right_Front");
+        //Left_Back = hardwareMap.dcMotor.get("Left_Back");
+        //Right_Back = hardwareMap.dcMotor.get("Right_Back");
+        Arm1 = hardwareMap.dcMotor.get("Arm1");
+
+    // Wait for the game to start (driver presses PLAY)
+
+        waitForStart();
+
+    // run until the end of the match (driver presses STOP)
+
+        while (opModeIsActive()) {
+            //stuff
+            double speed;
+            /*double vertical;
+            //double horizontal;
+            //double pivot;
+            //vertical = -gamepad1.left_stick_y;
+            //horizontal = gamepad1.left_stick_x;
+            pivot = -gamepad1.right_stick_x;
+            */
+
+            speed = (Arm1.getCurrentPosition()-Arm1.getCurrentPosition())/(time-time);
+
+    //Mecanum drive
+
+            /*Right_Front.setPower(pivot + (-vertical + horizontal));
+            //Right_Back.setPower(pivot + (-vertical - horizontal));
+            //Left_Back.setPower(pivot + (vertical - horizontal));
+            Left_Front.setPower(pivot + (vertical + horizontal));
+            */
+            waitForStart();
+
+
+    //Code for arm
+
+            while (opModeIsActive()) {
+                PID.setPID(.0001,.0 ,.0);
+                    Arm1.setTargetPosition(PID.getSetPoint());
+                    Arm1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                    if (gamepad1.b) {
+                        PID.setSetPoint(100);
+                        Arm1.setPower(1);
+
+                    }
+                    if (gamepad1.x) {
+                        PID.setSetPoint(100);
+                        PID.updatePID(Arm1.getCurrentPosition());
+                        Arm1.setPower(PID.getResult());
+                        telemetry.addData("speed",speed);
+                    }      
+                    else {
+                        Arm1.setPower(0);
+                    }   resetRuntime();
+                Arm1.getCurrentPosition();
+
+            }
+
+    //adding data
+            telemetry.addData("speed",speed);
+            telemetry.addData("Arm Encode", Arm1.getCurrentPosition());
+            telemetry.addData("Arm Inches", ticksToInches(Arm1.getCurrentPosition()));
+            telemetry.addData("PID Result", PID.getResult());
+            telemetry.update();
+        }
+
+    }
+
+    //units for stuff
+
+    public double ticksToInches(double ticks) {
+        double inches = ticks / 52;
+        return inches;
+    }
+
+    }

FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/grab/DriveWithGripper.java

@@ -0,0 +1,60 @@
+package org.firstinspires.ftc.teamcode.grab;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.util.Range;
+
+import org.firstinspires.ftc.teamcode.PID1;
+
+
+@TeleOp(name = "Drive Gripper", group = "Exercises")
+//@Disabled
+    public class DriveWithGripper extends LinearOpMode {
+
+
+        CRServo contServo;
+        float leftY, rightY;
+        double armPosition, gripPosition, contPower;
+        double MIN_POSITION = 0, MAX_POSITION = 1;
+        //PID1 PID = new PID1(1,1,0);
+        // called when init button is  pressed.
+        @Override
+        public void runOpMode() throws InterruptedException {
+            contServo = hardwareMap.crservo.get("contServo");
+
+            telemetry.addData("Mode", "waiting");
+            telemetry.update();
+
+            // wait for start button.
+
+            waitForStart();
+
+            armPosition = .5;                   // set arm to half way up.
+            gripPosition = MAX_POSITION;        // set grip to full open.
+
+            while (opModeIsActive()) {
+
+
+               ;
+                telemetry.addData("Mode", "running");
+
+                //PID.setPID(.01,.0 ,.0);
+                if (gamepad1.x) {
+
+                    contPower =1;
+                }
+                else if (gamepad1.b)
+                    contPower = -1;
+                else
+                    contPower = 0.0;
+
+
+                contServo.setPower(contPower);
+
+                telemetry.update();
+                idle();
+            }
+        }
+    }

FtcRobotController-8.2/unnamed.patch

@@ -0,0 +1,101 @@
+Index: FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/grab/DriveWithGripper.java
+IDEA additional info:
+Subsystem: com.intellij.openapi.diff.impl.patch.CharsetEP
+<+>UTF-8
+===================================================================
+diff --git a/FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/grab/DriveWithGripper.java b/FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/grab/DriveWithGripper.java
+new file mode 100644
+--- /dev/null	(revision 348911fb2dc443f65a972dc058199c8661fcbc06)
++++ b/FtcRobotController-8.2/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/grab/DriveWithGripper.java	(revision 348911fb2dc443f65a972dc058199c8661fcbc06)
+@@ -0,0 +1,91 @@
++package org.firstinspires.ftc.teamcode.grab;
++import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
++import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
++import com.qualcomm.robotcore.hardware.DcMotor;
++import com.qualcomm.robotcore.hardware.Servo;
++import com.qualcomm.robotcore.hardware.CRServo;
++import com.qualcomm.robotcore.util.Range;
++
++import org.firstinspires.ftc.teamcode.PID1;
++
++
++@TeleOp(name = "Drive Gripper", group = "Exercises")
++//@Disabled
++    public class DriveWithGripper extends LinearOpMode {
++
++
++        CRServo contServo;
++        float leftY, rightY;
++        double armPosition, gripPosition, contPower;
++        double MIN_POSITION = 0, MAX_POSITION = 1;
++        PID1 PID = new PID1();
++        // called when init button is  pressed.
++        @Override
++        public void runOpMode() throws InterruptedException {
++
++
++
++            contServo = hardwareMap.crservo.get("contServo");
++
++            telemetry.addData("Mode", "waiting");
++            telemetry.update();
++
++            // wait for start button.
++
++            waitForStart();
++
++            armPosition = .5;                   // set arm to half way up.
++            gripPosition = MAX_POSITION;        // set grip to full open.
++
++            while (opModeIsActive()) {
++
++
++               ;
++                telemetry.addData("Mode", "running");
++
++                // check the gamepad buttons and if pressed, increment the appropriate position
++                // variable to change the servo location.
++
++                // move arm down on A button if not already at lowest position.
++                if (gamepad1.a && armPosition > MIN_POSITION) armPosition -= .01;
++
++                // move arm up on B button if not already at the highest position.
++                if (gamepad1.b && armPosition < MAX_POSITION) armPosition += .01;
++
++                // open the gripper on X button if not already at most open position.
++                if (gamepad1.x && gripPosition < MAX_POSITION) gripPosition = gripPosition + .01;
++
++                // close the gripper on Y button if not already at the closed position.
++                if (gamepad1.y && gripPosition > MIN_POSITION) gripPosition = gripPosition - .01;
++
++                // Set continuous servo power level and direction.
++                PID.setPID(.01,.0 ,.0);
++                if (gamepad1.x) {
++
++                    contPower =1;
++                }
++                else if (gamepad1.b)
++                    contPower = -1;
++                else
++                    contPower = 0.0;
++
++                // set the servo position/power values as we have computed them.
++
++                contServo.setPower(contPower);
++
++
++                //telemetry.addData("arm servo", String.format("position=%.2f  actual=%.2f", armPosition,
++                //    armServo.getPosition()));
++
++                //telemetry.addData("grip servo", String.format("position=%.2f  actual=%.2f", gripPosition,
++                //    gripServo.getPosition()));
++
++                //telemetry.addData("arm servo", "position=%.2f  actual=%.2f", armPosition, armServo.getPosition());
++
++                //telemetry.addData("grip servo", "position=%.2f  actual=%.2f", gripPosition, gripServo.getPosition());
++
++                telemetry.update();
++                idle();
++            }
++        }
++    }