Class RopeLift

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Tools/Modules/RopeLift.java

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.Tools.Modules;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+public class RopeLift {
+    private DcMotor LiftMotor;
+    private int steps_min;
+    private int steps_max;
+    private int steps_sum;
+
+    public RopeLift() {
+    }
+
+    public void setPower(double power,boolean W) {
+        if (W)
+            LiftMotor.setPower(power);
+        else {
+            if (Math.max(LiftMotor.getCurrentPosition(), steps_min) == Math.min(LiftMotor.getCurrentPosition(), steps_max))
+                LiftMotor.setPower(power);
+            else
+                setTargetPosition(((LiftMotor.getCurrentPosition() > steps_max) ? steps_max : steps_min), power);
+            if (LiftMotor.getMode() != DcMotor.RunMode.RUN_USING_ENCODER)
+                LiftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        }
+    }
+    public void setTargetPosition(int steps, double v) {
+        steps_sum = (Math.min(steps_min + steps, steps_max));
+        LiftMotor.setTargetPosition(steps_sum);
+
+        if (LiftMotor.getMode() != DcMotor.RunMode.RUN_TO_POSITION)
+            LiftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+        LiftMotor.setPower(v);
+    }
+    public void step() {
+    }
+}