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TeleOpProgram.java
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TeleOpProgram.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;
@TeleOp(name = "TeleOpsBanana", group = "TeleOp")
public class TeleOpProgram extends LinearOpMode {
BananaWheelsRobot robot = new BananaWheelsRobot();
private static final boolean PHONE_IS_PORTRAIT = true;
@Override
public void runOpMode() {
float speed = 0.0f;
double turnspeed = 0.0f;
robot.init(hardwareMap);
telemetry.addData("Driver", "Waiting for you to Start");
telemetry.update();
waitForStart();
while (opModeIsActive()) {
speed = gamepad1.left_stick_y;
robot.topLeft.setPower(-speed);
robot.bottomLeft.setPower(-speed);
robot.topRight.setPower(-speed);
robot.bottomRight.setPower(-speed);
turnspeed = gamepad1.left_stick_x;
robot.topLeft.setPower(-turnspeed);
robot.bottomLeft.setPower(-turnspeed);
robot.topRight.setPower(turnspeed);
robot.topLeft.setPower(turnspeed);
if (gamepad1.dpad_right) {
robot.topLeft.setPower(0.75);
robot.bottomLeft.setPower(-0.75);
robot.topRight.setPower(-0.75);
robot.bottomRight.setPower(0.75);
}
if (gamepad1.dpad_up) {
robot.topLeft.setPower(0.2);
robot.bottomLeft.setPower(0.2);
robot.topRight.setPower(0.2);
robot.bottomRight.setPower(0.2);
}
if (gamepad1.dpad_left) {
robot.topLeft.setPower(-0.75);
robot.bottomLeft.setPower(0.75);
robot.topRight.setPower(0.75);
robot.bottomRight.setPower(-0.75);
}
if (gamepad1.dpad_down) {
robot.topLeft.setPower(-0.2);
robot.bottomLeft.setPower(-0.2);
robot.topRight.setPower(-0.2);
robot.bottomRight.setPower(-0.2);
}
}
}
}