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Arm.java
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Arm.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.firstinspires.ftc.robotcore.external.JavaUtil;
import org.firstinspires.ftc.teamcode.Direction;
public class Arm {
private DcMotor arm1;
private DcMotor arm2;
public Arm(DcMotor arm1, DcMotor arm2) {
this.arm1 = arm1;
this.arm2 = arm2;
}
public void DropArm(){
this.arm1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
this.arm2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
this.arm1.setPower(-.9);
this.arm2.setPower(.9);
}
public void Initialize() {
this.arm1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
this.arm2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
this.arm1.setTargetPosition(0);
this.arm2.setTargetPosition(0);
this.arm1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
this.arm2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
private void SetPower(float power) {
this.arm1.setPower(power);
this.arm2.setPower(power);
}
public void Move(int position) {
final float power = position < 10 ? 0.5f : 0.9f;
this.SetPower(power);
this.arm1.setTargetPosition(position);
this.arm2.setTargetPosition(-position);
}
public void Move(int position, boolean waitForDone) {
this.Move(position);
if (waitForDone){
WaitForMotors();
}
}
private void WaitForMotors() {
// TODO: do we need this "!!"?
while (!!(this.arm1.isBusy() || this.arm2.isBusy())) {}
}
}