BasicTeleop.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.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


@TeleOp(name="BasicTeleop", group="TeleOp")

public class BasicTeleop extends LinearOpMode {

    // declare opmode members
    HardwareMap21 robot = new HardwareMap21();
    private ElapsedTime runtime = new ElapsedTime();
    double speedAdjust = 10;
    // Setup a variable for each drive wheel to save power level for telemetry
    double leftPower = 0;
    double rightPower = 0;

    @Override
    public void runOpMode() {

        // update telemetry
        telemetry.addData("Status", "Initialized");
        robot.init(hardwareMap);
        telemetry.update();

        // set run mode
        robot.BleftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.FleftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.BrightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.FrightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.leftIntake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.rightIntake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        // set direction of wheels
        robot.BleftDrive.setDirection(DcMotor.Direction.REVERSE);
        robot.FleftDrive.setDirection(DcMotor.Direction.REVERSE);
        robot.BrightDrive.setDirection(DcMotor.Direction.FORWARD);
        robot.FrightDrive.setDirection(DcMotor.Direction.FORWARD);
        robot.leftIntake.setDirection(DcMotor.Direction.REVERSE);
        robot.rightIntake.setDirection(DcMotor.Direction.FORWARD);

        // set servo positions
        robot.closey.setPosition(0);
        robot.pushey.setPower(0);
        robot.pulley.setPower(0);
        robot.liftey.setPower(0);


        // wait for driver to press start
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            /* POV Mode uses left stick to go forward, and right stick to turn.
            // uses basic math to combine motions and is easier to drive straight.
            double drive = -gamepad1.left_stick_y;
            double turn  =  gamepad1.right_stick_x;
            leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
            rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;

            robot.BleftDrive.setPower(leftPower);
            robot.BrightDrive.setPower(rightPower);
            robot.FleftDrive.setPower(leftPower);
            robot.FrightDrive.setPower(rightPower);
            */

            // Linear movement with joysticks

            robot.BleftDrive.setPower((gamepad1.left_stick_y + gamepad1.left_stick_x - gamepad1.right_stick_x) * (-speedAdjust / 10));
            robot.BrightDrive.setPower((gamepad1.left_stick_y - gamepad1.left_stick_x + gamepad1.right_stick_x) * (-speedAdjust / 10));
            robot.FleftDrive.setPower((gamepad1.left_stick_y - gamepad1.left_stick_x - gamepad1.right_stick_x) * (-speedAdjust / 10));
            robot.FrightDrive.setPower((gamepad1.left_stick_y + gamepad1.left_stick_x + gamepad1.right_stick_x) * (-speedAdjust / 10));

            // A button - spin carousel
            if (gamepad1.a) {
                robot.carousel.setPower(5); //2
            } else if (gamepad1.b){
                robot.carousel.setPower(-5);
            } else {
                robot.carousel.setPower(0);
            }

            // X and Y button - move servo for pushey in/out
            if (gamepad1.x) {
                robot.pushey.setPower(2);
            } else if (gamepad1.y) {
                robot.pushey.setPower(-2);
            } else {
                robot.pushey.setPower(0);
            }

            // Right Trigger & Left Trigger  - activate intakes + pseudo outtake
            if (gamepad1.right_trigger > 0.1) {
                robot.leftIntake.setPower(1);
                robot.rightIntake.setPower(1);
            } else if (gamepad1.left_trigger > 0.1) {
                robot.leftIntake.setPower(-1);
                robot.rightIntake.setPower(-1);
            } else {
                robot.leftIntake.setPower(0);
                robot.rightIntake.setPower(0);
            }



            // 2nd Gamepad

            // Y button (2nd Person) - closes for intake, default is closed
            if (gamepad2.y) {
                robot.closey.setPosition(0.50);
            } else {
                robot.closey.setPosition(0);
            }

            // Right Trigger + Bumper (2nd Person) - move pulley + liftey up & down
            if (gamepad2.right_trigger > 0.5) {
                robot.pulley.setPower(-2);
            } else if (gamepad2.right_bumper) {
                robot.pulley.setPower(2);
            } else {
                robot.pulley.setPower(0);
            }

            // Left Trigger + Bumper (2nd Person) - troubleshooting with liftey
            if (gamepad2.left_trigger > 0.5) {
                robot.liftey.setPower(1);
            } else if (gamepad2.left_bumper) {
                robot.liftey.setPower(-1);
            } else {
                robot.liftey.setPower(0);
            }










            // show the elapsed game time and wheel power.
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
            telemetry.addData("Pulley Position", "position (%s)", robot.pulley.getPower() );
            telemetry.update();
        }
    }
}