aj-foster · September 13, 2015 01:35 · Sep 13, 2015
diff --git a/RI1WTankDrive.java b/RI1WTankDrive.java
@@ -0,0 +1,145 @@
+/* Robot in 1 Weekend
+ * September 12-13, 2015
+ *
+ * The following is a sample of code used during the Robot in 1 Weekend event (see the Ri3d channel
+ * on YouTube: https://www.youtube.com/channel/UCgtwgUTTxuldvAGW1u8SDSA). It was written by
+ * Christina Grajales (formerly Univ. of Auburn and team 1902) and AJ Foster (UCF and formerly
+ * team 2425).
+ *
+ * Use of this code requires the Android Studio software and various packages. Please see the
+ * documentation in the FTC App repository (https://github.com/ftctechnh/ftc_app). The following
+ * Android Studio packages are needed via the SDK Manager:
+ *
+ * Tools:
+ * - Android SDK Build-tools
+ *   - 23.0.1 (preinstalled - can we uninstall?)
+ *   - 21.1.2
+ *   - 19.1
+ *
+ * Android 5.0.1 (API 21)
+ * - SDK Platform
+ * - Google APIs
+ *
+ * Android 4.4.2 (API 19)
+ * - SDK Platform
+ * - Google APIs (x86 System Image)
+ * - Google APIs (ARM System Image)
+ *
+ * This file should be located in the src/main/java/com.../opmodes directory of the
+ * FtcRobotController project (see https://github.com/ftctechnh/ftc_app). In order to use this
+ * OpMode, you'll have to declare it in the FtcOpModeRegister class.
+ *
+ * We give you NO WARRANTY about the utility or safety of this code. It is up to you to learn and
+ * understand what it does before using it on an operational robot.
+ */
+
+
+// Each OpMode must be included in this package.
+package com.qualcomm.ftcrobotcontroller.opmodes;
+
+// Include packages as necessary for predefined classes.
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorController;
+
+
+/* This public class represents our OpMode. Inside of it you will find a number of methods - some
+ * are required, some are not. For more information about the structure of this class, see the
+ * Javadocs in the ftc_app repo.
+ */
+public class RI1WTankDrive extends OpMode {
+
+    // Define the left and right drive train motors. We will instantiate (set) these variables
+    // below, in the init() method.
+    DcMotor ri1w_drive_left;
+    DcMotor ri1w_drive_right;
+
+    // These variables will be used to set the drive train motor speed.
+    double left_drive = 0.0;
+    double right_drive = 0.0;
+
+    // This variable will be used to decide whether to scale down the drive train speed.
+    boolean scale_down = false;
+
+
+    /* init() runs as soon as you arm the OpMode using the FTC Driver Station app. Use it to set
+     * servos, calibrate sensors, or otherwise initialize your hardware.
+     *
+     * This method is required - if you do not have it, the OpMode cannot be run.
+     */
+    @Override
+    public void init () {
+
+
+        // Initialize the motors. The motor names you see here are defined using the FTC Robot
+        // Controller app, when you create a robot configuration.
+        ri1w_drive_left = hardwareMap.dcMotor.get("motor_1");
+        ri1w_drive_right = hardwareMap.dcMotor.get("motor_2");
+
+        // Set the right drive train to be reversed.
+        ri1w_drive_right.setDirection(DcMotor.Direction.REVERSE);
+    }
+
+
+    /* start() runs as soon as you press the play button in the FTC Driver Station app.
+     *
+     * This method is not required - if you have nothing to do at the start, you can leave it out.
+     * Think of it like the first loop of your program.
+     */
+    @Override
+    public void start () {
+        // We don't have anything to do here.
+    }
+
+
+    /* loop() is called repeatedly during the OpMode's execution.
+     *
+     * This method runs about 180 times per second. The majority of your code will probably be
+     * here. This method is required - if you do not have it, the OpMode cannot be run.
+     */
+    @Override
+    public void loop () {
+
+        // Get the current joystick values from the controller. The gamepad{1,2} variables are
+        // predefined for you. See the ftc_app Javadocs for more information about the methods
+        // you can call on the gamepad.
+
+        left_drive = gamepad1.left_stick_y;
+        right_drive = gamepad1.right_stick_y;
+
+        // Also get some information about the buttons on the gamepad. We'll use these to set the
+        // boolean variable scale_down.
+
+        if (gamepad1.x)
+            scale_down = true;
+
+        if (gamepad1.y)
+            scale_down = false;
+
+        // If we wish to scale down the motor speed, do that now.
+
+        if (scale_down) {
+            left_drive /= 1.5;
+            right_drive /= 1.5;
+        }
+
+        // Set the drive train motor speed for this iteration.
+
+        ri1w_drive_left.setPower(left_drive);
+        ri1w_drive_right.setPower(right_drive);
+    }
+
+
+    /* stop() is called just before the robot is stopped by the FTC Driver Station app.
+     *
+     * This method is not required, but you may wish to make sure your motors are stopped.
+     */
+    @Override
+    public void stop () {
+
+        // Stop the motors!
+
+        ri1w_drive_left.setPower(0.0);
+        ri1w_drive_right.setPower(0.0);
+    }
+}