specific teleops

svhsrobotics · Sep 30, 2024 · c41a5b0 · c41a5b0
1 parent 21be8ba
commit c41a5b0
Showing 1 changed file with 70 additions and 0 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/ActualGavinTestTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/ActualGavinTestTeleOp.java
@@ -0,0 +1,70 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.gamepad1;
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.hardwareMap;
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.linearOpMode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+@TeleOp
+public class ActualGavinTestTeleOp extends LinearOpMode {
+    private DcMotor front_left;
+    private DcMotor front_right;
+    private DcMotor back_left;
+    private DcMotor back_right;
+
+
+    public void runOpMode() throws InterruptedException {
+
+        front_left = hardwareMap.get(DcMotor.class, "front_left");
+        front_right = hardwareMap.get(DcMotor.class, "front_right");
+        back_left = hardwareMap.get(DcMotor.class, "back_left");
+        back_right = hardwareMap.get(DcMotor.class, "back_right");
+
+        waitForStart();
+        while(opModeIsActive())
+            if (gamepad1.right_stick_x>=.3 && gamepad1.left_stick_y>=.3){
+                front_left.setPower(1);
+                front_right.setPower(0);
+                back_right.setPower(0);
+                back_left.setPower(1);
+            }
+            else if (gamepad1.right_stick_y>=0.3) {
+                front_left.setPower(1);
+                front_right.setPower(-1);
+                back_right.setPower(-1);
+                back_left.setPower(1);
+
+
+            } else if (gamepad1.right_stick_y<=-0.3) {
+                front_left.setPower(-1);
+                front_right.setPower(1);
+                back_right.setPower(1);
+                back_left.setPower(-1);
+
+
+            }
+            else if (gamepad1.left_stick_x<=-.3) {
+                front_left.setPower(1);
+                front_right.setPower(1);
+                back_left.setPower(1);
+                back_right.setPower(1);
+            } else if (gamepad1.left_stick_x>=.3) {
+                front_left.setPower(-1);
+                front_right.setPower(-1);
+                back_left.setPower(-1);
+                back_right.setPower(-1);
+
+            } else {
+                front_right.setPower(0);
+                front_left.setPower(0);
+                back_left.setPower(0);
+                back_right.setPower(0);
+            }
+
+
+
+    }}