It's time to bring everything together so to have a fully mobile robot! Returning to our HelloRobot_TeleOp program we can add our arm control to our loop below the drivetrain code.
Full Program
This program uses the same configuration file created at the start of Hello Robot. Some hardware may not be used during this section.
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Blinker;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;
@TeleOp
public class HelloRobot_TeleOp extends LinearOpMode {
private Blinker control_Hub;
private DcMotor arm;
private DcMotor leftmotor;
private DcMotor rightmotor;
private DcMotor test_motor;
private Servo test_servo;
private TouchSensor test_touch;
@Override
public void runOpMode() {
control_Hub = hardwareMap.get(Blinker.class, "Control Hub");
arm = hardwareMap.get(DcMotor.class, "arm");
leftmotor = hardwareMap.get(DcMotor.class, "leftmotor");
rightmotor = hardwareMap.get(DcMotor.class, "rightmotor");
test_motor = hardwareMap.get(DcMotor.class, "test_motor");
test_servo = hardwareMap.get(Servo.class, "test_servo");
test_touch = hardwareMap.get(TouchSensor.class, "test_touch");
rightmotor.setDirection(DcMotorSimple.Direction.REVERSE);
double x;
double y;
telemetry.addData("Status", "Initialized");
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
//Drivetrain Control
x = gamepad1.right_stick_x;
y = -gamepad1.right_stick_y;
rightmotor.setPower(y-x);
leftmotor.setPower(y+x);
//Arm Control with Limit Switch
if(test_touch.isPressed()){
if(gamepad1.dpad_up){
arm.setPower(0.2);
}
else{
arm.setPower(0);
}
}
else {
if(gamepad1.dpad_up){
arm.setPower(0.2);
}
else if (gamepad1.dpad_down){
arm.setPower(-0.2);
}
else {
arm.setPower(0);
}
}
telemetry.addData("Status", "Running");
telemetry.update();
}
}
}
Right Stick vs. Left?
Which joystick is used for driving the robot is largely based on driver preference.
For Hello Robot, we will be referencing using the right stick due to the arm control using the Dpad. This can be changed at any time by changing from right to left in your x = gamepad1.right_stick_x; lines.
Downloads
Class Bot V2 / Hello Robot Configuration File:
Class Bot V2 / Hello Robot Full TeleOp:
Class Bot V2 / Hello Robot Arm Control no Limit Switch:
