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  1. /* Copyright (c) 2017 FIRST. All rights reserved.
  2.  *
  3.  * Redistribution and use in source and binary forms, with or without modification,
  4.  * are permitted (subject to the limitations in the disclaimer below) provided that
  5.  * the following conditions are met:
  6.  *
  7.  * Redistributions of source code must retain the above copyright notice, this list
  8.  * of conditions and the following disclaimer.
  9.  *
  10.  * Redistributions in binary form must reproduce the above copyright notice, this
  11.  * list of conditions and the following disclaimer in the documentation and/or
  12.  * other materials provided with the distribution.
  13.  *
  14.  * Neither the name of FIRST nor the names of its contributors may be used to endorse or
  15.  * promote products derived from this software without specific prior written permission.
  16.  *
  17.  * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
  18.  * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19.  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
  20.  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  21.  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
  22.  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  23.  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  24.  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  25.  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  26.  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  27.  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  28.  */
  29.  
  30. package org.firstinspires.ftc.teamcode;
  31.  
  32. import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  33. import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  34. import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  35. import com.qualcomm.robotcore.hardware.DcMotor;
  36. import com.qualcomm.robotcore.util.ElapsedTime;
  37. import com.qualcomm.robotcore.util.Range;
  38.  
  39.  
  40. /**
  41.  * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
  42.  * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
  43.  * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
  44.  * class is instantiated on the Robot Controller and executed.
  45.  *
  46.  * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
  47.  * It includes all the skeletal structure that all linear OpModes contain.
  48.  *
  49.  * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
  50.  * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
  51.  */
  52.  
  53. @TeleOp(name="Brate", group="Linear Opmode")
  54. //@Disabled
  55. public class Brate extends LinearOpMode {
  56.  
  57.     // Declare OpMode members.
  58.     private ElapsedTime runtime = new ElapsedTime();
  59. DcMotor MotorPrindere;
  60. double power=0.5;
  61.  
  62.     @Override
  63.     public void runOpMode() {
  64.         telemetry.addData("Status", "Initialized");
  65.         telemetry.update();
  66.  
  67.         waitForStart();
  68.         runtime.reset();
  69. MotorPrindere=hardwareMap.dcMotor.get("Motor_Prindere");
  70.         // run until the end of the match (driver presses STOP)
  71.         while (opModeIsActive()) {
  72.             telemetry.addData("Status", "Run Time: " + runtime.toString());
  73.             telemetry.update();
  74.  
  75.             if(gamepad2.dpad_right) MotorPrindere.setPower(power);
  76.             else MotorPrindere.setPower(0.0);
  77.  
  78.             if(gamepad2.dpad_left) MotorPrindere.setPower(-power);
  79.             else MotorPrindere.setPower(0.0);
  80.  
  81.  
  82.  
  83.  
  84.         }
  85.     }
  86. }
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