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- package org.firstinspires.ftc.teamcode;
- import com.qualcomm.hardware.adafruit.BNO055IMU;
- import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cColorSensor;
- import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
- import com.qualcomm.robotcore.hardware.DcMotor;
- import com.qualcomm.robotcore.hardware.DcMotorSimple;
- import com.qualcomm.robotcore.hardware.HardwareMap;
- import com.qualcomm.robotcore.hardware.OpticalDistanceSensor;
- import com.qualcomm.robotcore.hardware.Servo;
- import com.qualcomm.robotcore.util.ElapsedTime;
- import android.hardware.Sensor;
- import android.hardware.SensorEvent;
- /**
- * Motor channel: Left drive motor: "left_motor"
- * Motor channel: Right drive motor: "right_motor"
- */
- public class HardWare11226 {
- /* Public OpMode members. */
- public DcMotor leftMotor = null;
- public DcMotor rightMotor = null;
- public DcMotor collectMotor = null;
- // sensors
- //public ModernRoboticsI2cGyro gyro_sensor = null;
- public ModernRoboticsI2cColorSensor color_sensor_blue = null;
- //public OpticalDistanceSensor beaconDistance = null;
- //public OpticalDistanceSensor odsSensor = null;
- public ModernRoboticsI2cColorSensor color_sensor_red = null;
- /* local OpMode members. */
- HardwareMap hwMap = null;
- private ElapsedTime period = new ElapsedTime();
- private static HardWare11226 m_instance = null;
- /* Constructor */
- public HardWare11226() {
- }
- /* Initialize standard Hardware interfaces */
- public void init(HardwareMap ahwMap) {
- // Save reference to Hardware map
- hwMap = ahwMap;
- // Define and Initialize Motors
- leftMotor = hwMap.dcMotor.get("left_motor");
- rightMotor = hwMap.dcMotor.get("right_motor");
- collectMotor = hwMap.dcMotor.get("collect_motor");
- color_sensor_red = (ModernRoboticsI2cColorSensor) hwMap.colorSensor.get("color_sensor_red");
- color_sensor_blue = (ModernRoboticsI2cColorSensor) hwMap.colorSensor.get("color_sensor_blue");
- /*gyro_sensor = (ModernRoboticsI2cGyro) hwMap.gyroSensor.get("gyro");
- beaconDistance = hwMap.opticalDistanceSensor.get("ods_beacon");
- odsSensor = hwMap.opticalDistanceSensor.get("ods");*/
- ////
- leftMotor.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
- rightMotor.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors
- collectMotor.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
- // Set all motors to zero power
- leftMotor.setPower(0);
- rightMotor.setPower(0);
- collectMotor.setPower(0);
- color_sensor_red.enableLed(false);
- color_sensor_blue.enableLed(false);
- // Set all motors to run without encoders.
- // // May want to use RUN_USING_ENCODERS if encoders are installed.
- leftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- rightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
- collectMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
- }
- public static HardWare11226 GetInstance() {
- if (m_instance == null) {
- m_instance = new HardWare11226();
- }
- return m_instance;
- }
- }
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