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ngarnsworthyngarnsworthy
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14 move drivetrain into subsystem (#17)
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2 parents 178991a + 608c83d commit 9f93c24

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11 files changed

+202
-179
lines changed

11 files changed

+202
-179
lines changed

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java‎

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package org.firstinspires.ftc.teamcode;
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public final class Constants {
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public static class Drivetrain {
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public static final String flMotorName = "frontLeftDrive";
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public static final String frMotorName = "frontRightDrive";
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public static final String blMotorName = "backLeftDrive";
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public static final String brMotorName = "backRightDrive";
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}
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public static class Shooter {
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public static final String shooterMotorName = "shooterMotor";
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public static final double defaultSpeed = 1;
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}
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}

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java‎

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package org.firstinspires.ftc.teamcode.OpModes;
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import com.arcrobotics.ftclib.command.CommandOpMode;
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import com.arcrobotics.ftclib.gamepad.GamepadEx;
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import com.arcrobotics.ftclib.gamepad.GamepadKeys;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.teamcode.Constants;
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import org.firstinspires.ftc.teamcode.commands.RunShooter;
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import org.firstinspires.ftc.teamcode.commands.UserDrive;
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import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
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import org.firstinspires.ftc.teamcode.subsystems.Shooter;
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@TeleOp(name = "BackupOpMode", group = "NormalOpModes")
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public class BackupOpMode extends CommandOpMode {
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private Shooter shooter;
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private Drivetrain drivetrain;
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private GamepadEx driverOp;
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private GamepadEx coOp;
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@Override
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public void initialize() {
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driverOp = new GamepadEx(gamepad1);
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coOp = new GamepadEx(gamepad2);
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drivetrain = new Drivetrain(
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hardwareMap,
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Constants.Drivetrain.flMotorName,
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Constants.Drivetrain.frMotorName,
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Constants.Drivetrain.blMotorName,
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Constants.Drivetrain.brMotorName
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);
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drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
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register(drivetrain);
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shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName);
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register(shooter);
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coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
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new RunShooter(shooter, Constants.Shooter.defaultSpeed));
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}
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}

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java‎

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package org.firstinspires.ftc.teamcode.OpModes;
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import com.arcrobotics.ftclib.command.CommandOpMode;
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import com.arcrobotics.ftclib.gamepad.GamepadEx;
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import com.arcrobotics.ftclib.gamepad.GamepadKeys;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import org.firstinspires.ftc.teamcode.Constants;
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import org.firstinspires.ftc.teamcode.commands.RunShooter;
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import org.firstinspires.ftc.teamcode.commands.UserDrive;
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import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
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import org.firstinspires.ftc.teamcode.subsystems.Shooter;
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@TeleOp(name = "PrimaryOpMode", group = "NormalOpModes")
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public class PrimaryOpMode extends CommandOpMode {
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private Shooter shooter;
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private Drivetrain drivetrain;
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private GamepadEx driverOp;
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private GamepadEx coOp;
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@Override
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public void initialize() {
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driverOp = new GamepadEx(gamepad1);
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coOp = new GamepadEx(gamepad2);
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drivetrain = new Drivetrain(
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hardwareMap,
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Constants.Drivetrain.flMotorName,
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Constants.Drivetrain.frMotorName,
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Constants.Drivetrain.blMotorName,
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Constants.Drivetrain.brMotorName
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);
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drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
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register(drivetrain);
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shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName);
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register(shooter);
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coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
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new RunShooter(shooter, Constants.Shooter.defaultSpeed));
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}
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}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BrodysFIRSTOpMode.java renamed to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/BrodysFIRSTOpMode.java

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package org.firstinspires.ftc.teamcode;
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package org.firstinspires.ftc.teamcode.OpModes.learning;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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@TeleOp(name = "Brodys OpMode", group = "Example OpMode")
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@TeleOp(name = "Brody's OpMode", group = "Example OpMode")
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@Disabled
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public class BrodysFIRSTOpMode extends OpMode {
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private DcMotor frontLeftMotor;
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private DcMotor frontRightMotor;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NicksFIRSTJavaOpMode.java renamed to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/NicksFIRSTJavaOpMode.java

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package org.firstinspires.ftc.teamcode;
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package org.firstinspires.ftc.teamcode.OpModes.learning;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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@TeleOp(name="Nick's OpMode", group="Example OpMode")
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@TeleOp(name = "Nick's OpMode", group = "Example OpMode")
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@Disabled
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public class NicksFIRSTJavaOpMode extends OpMode {
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private DcMotor frontLeftMotor;
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private DcMotor frontRightMotor;
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}
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@Override
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public void stop() {
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public void stop() {
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telemetry.addData("Status", "Stopped");
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telemetry.update();
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}

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java‎

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This file was deleted.

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunShooter.java‎

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import org.firstinspires.ftc.teamcode.subsystems.Shooter;
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public class RunShooter extends CommandBase {
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private Shooter subsystem;
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private double speed;
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private final Shooter subsystem;
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private final double speed;
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public RunShooter(Shooter _subsystem, double _speed) {
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subsystem = _subsystem;
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addRequirements(subsystem);
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speed = _speed;
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subsystem = _subsystem;
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addRequirements(subsystem);
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speed = _speed;
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}
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@Override
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public void initialize() {
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subsystem.run(speed);
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}
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@Override
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public boolean isFinished() {
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return false;
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}
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@Override
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public void end(boolean interrupted) {
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subsystem.stop();

‎TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java‎

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package org.firstinspires.ftc.teamcode.commands;
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import com.arcrobotics.ftclib.command.CommandBase;
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import com.arcrobotics.ftclib.gamepad.GamepadEx;
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import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
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public class UserDrive extends CommandBase {
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private final Drivetrain drivetrain;
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private final GamepadEx gamepad;
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public UserDrive(Drivetrain drivetrain, GamepadEx gamepad) {
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this.drivetrain = drivetrain;
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this.gamepad = gamepad;
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addRequirements(drivetrain);
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}
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@Override
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public void execute() {
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drivetrain.move(
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gamepad.getLeftX(),
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gamepad.getLeftY(),
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gamepad.getRightX()
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);
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}
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@Override
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public void end(boolean interrupted) {
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drivetrain.stop();
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}
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}

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