Untitled

mail@pastecode.io avatar
unknown
java
6 months ago
1.7 kB
5
Indexable
Never
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

@TeleOp
public class DualDrive extends LinearOpMode {
    
    // Register motors
    private DcMotor rightmotor;
    private DcMotor leftmotor;
    
    // Register joy stick variables
    double leftJoyStickX = gamepad1.left_stick_x;
    double leftJoyStickY = -gamepad1.left_stick_y;


  @Override
  public void runOpMode() {
        
        // Connect motors to the robot
        rightmotor = hardwareMap.get(DcMotor.class, "rightmotor");
        leftmotor = hardwareMap.get(DcMotor.class, "leftmotor");
        
        // Fixing right motor two share same direction as the left one
        rightmotor.setDirection(DcMotorSimple.Direction.REVERSE);
        
        // IDK what this is, prob just an init stage, I will just leave it tbh
        waitForStart();

        // Loop when the program is ON
        while (opModeIsActive()) {
            
            /*
            Set motors according to the joysticks. This method could be unconsistent
            (a millimeter differnece of the joystick will influence the speed of the robot),
            but we can't do anything about it. I don't want to waste time hard-coding parameters in
            (just like I did for the past hour) Anyways, STICK WITH IT.
            */
            
            leftmotor.setPower(leftJoyStickY + leftJoyStickX);
            rightmotor.setPower(leftJoyStickY - leftJoyStickX);
        }
    }
}