8782 Teleop

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package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;

/**
 * TeleOp Mode
 * <p>
 * Enables control of the robot via the gamepad
 */
public class FourWheelTankDriveAndArm8782 extends OpMode {

    DcMotor motorRightFront;
    DcMotor motorLeftFront;
    DcMotor motorRightRear;
    DcMotor motorLeftRear;
    Servo arm;

    final static double ARM_MIN_RANGE  = 0.00;
    final static double ARM_MAX_RANGE  = 1.00;

    // starting position of the arm servo.
    double armPosition = 0.5;

    // amount to change the arm servo position.
    double armDelta = 0.1;

    /**
     * Constructor
     */
    public FourWheelTankDriveAndArm8782() {

    }

    /*
     * 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 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 this bot we assume there are four motors:
   *   "1" is on the left front corner of the bot.
   *   "3" is on the left rear corner of the bot.
   *   "2" is on the right front corner of the bot.
   *   "4" is on the right rear corner of the bot.
   */
    motorLeftFront = hardwareMap.dcMotor.get("FtcDcMotor1");
    motorLeftRear = hardwareMap.dcMotor.get("FtcDcMotor3");
        motorRightFront = hardwareMap.dcMotor.get("FtcDcMotor2");
        motorRightRear = hardwareMap.dcMotor.get("FtcDcMotor4");
        motorLeftFront.setDirection(DcMotor.Direction.REVERSE);
        motorLeftRear.setDirection(DcMotor.Direction.REVERSE);

        arm = hardwareMap.servo.get("FtcServo1");

    }

    /*
     * This method will be called repeatedly in a loop
     *
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run()
     */
    @Override
    public void loop() {

    /*
     * Gamepad 1
     *
     * Gamepad 1 controls the motors via the left stick
     */

        // tank drive
        // note that if y equal -1 then joystick is pushed all of the way forward.
        float left = -gamepad1.left_stick_y;
        float right = -gamepad1.right_stick_y;

        // clip the right/left values so that the values never exceed +/- 1
    left = Range.clip(left, -1, 1);
        right = Range.clip(right, -1, 1);

        // scale the joystick value to make it easier to control
        // the robot more precisely at slower speeds.
    left =  (float)scaleInput(left);
        right = (float)scaleInput(right);

        // write the values to the motors
    motorLeftFront.setPower(left);
    motorLeftRear.setPower(left);
        motorRightFront.setPower(right);
        motorRightRear.setPower(right);

        // update the position of the arm.
        if (gamepad1.y) {
            // if the Y button is pushed on gamepad1, decrease the position of
            // the arm servo.
            armPosition += armDelta;
        }

        if (gamepad1.a) {
            // if the A button is pushed on gamepad1, increment the position of
            // the arm servo.
            armPosition -= armDelta;
        }

        armPosition = Range.clip(armPosition, ARM_MIN_RANGE, ARM_MAX_RANGE);

        // write position values to the wrist and claw servo
        arm.setPosition(armPosition);

        /*
         * Send telemetry data back to driver station. Note that if we are using
         * a legacy NXT-compatible motor controller, then the getPower() method
         * will return a null value. The legacy NXT-compatible motor controllers
         * are currently write only.
         */

        telemetry.addData("Text", "*** Robot Data***");
        telemetry.addData("left tgt pwr",  "left  pwr: " + String.format("%.2f", left));
        telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", right));
    telemetry.addData("arm pos"      , "arm pos: "   + String.format("%.2d", armPosition));
    }

    /*
     * Code to run when the op mode is first disabled goes here
     *
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#stop()
     */
    @Override
    public void stop() {

    }

    /*
     * This method scales the joystick input so for low joystick values, the
     * scaled value is less than linear.  This is to make it easier to drive
     * the robot more precisely at slower speeds.
     */
    double scaleInput(double dVal)  {
        double[] scaleArray = { 0.0, 0.05, 0.09, 0.10, 0.12, 0.15, 0.18, 0.24,
                0.30, 0.36, 0.43, 0.50, 0.60, 0.72, 0.85, 1.00, 1.00 };

        // get the corresponding index for the scaleInput array.
        int index = (int) (dVal * 16.0);

        // index should be positive.
        if (index < 0) {
            index = -index;
        }

        // index cannot exceed size of array minus 1.
        if (index > 16) {
            index = 16;
        }

        // get value from the array.
        double dScale = 0.0;
        if (dVal < 0) {
            dScale = -scaleArray[index];
        } else {
            dScale = scaleArray[index];
        }

        // return scaled value.
        return dScale;
    }

}