18-19_robotcode/TeleMap.java at master · WHHSFTC/18-19_robotcode · GitHub

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;

/**
 * Created by khadija on 1/5/2019.
 */
public class TeleMap {
    HardwareMap hwMap = null;
    public DcMotor motorLF;
    public DcMotor motorLB;
    public DcMotor motorRF;
    public DcMotor motorRB;
    public DcMotor hangMotor;
    public DcMotor intakeMotor;
    public DcMotor bucketMotor;

    public Servo bucketServo;
    public Servo teamMarker;

    public AnalogInput limit1;
    public AnalogInput limit2;

    public void init(HardwareMap ahwMap) {

        // save reference to HW Map
        hwMap = ahwMap;
        motorLB = hwMap.dcMotor.get("motorLB");
        motorLF = hwMap.dcMotor.get("motorLF");
        motorRF = hwMap.dcMotor.get("motorRF");
        motorRB = hwMap.dcMotor.get("motorRB");

        bucketMotor = hwMap.dcMotor.get("bucketMotor");
        hangMotor = hwMap.dcMotor.get("hangMotor");
        intakeMotor = hwMap.dcMotor.get("intakeMotor");

        bucketServo = hwMap.servo.get("bucketServo");

        limit1 = hwMap.analogInput.get("limit1");

        limit2 = hwMap.analogInput.get("limit2");


        motorLF.setDirection(DcMotor.Direction.FORWARD);
        motorRB.setDirection(DcMotor.Direction.FORWARD);
        motorRF.setDirection(DcMotor.Direction.FORWARD);
        motorLB.setDirection(DcMotor.Direction.FORWARD);

        bucketMotor.setDirection(DcMotorSimple.Direction.FORWARD);
        intakeMotor.setDirection(DcMotorSimple.Direction.FORWARD);
        hangMotor.setDirection(DcMotorSimple.Direction.FORWARD);


        motorLB.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        motorLF.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        motorRF.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        motorRB.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        bucketMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        intakeMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        hangMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        motorLB.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        motorLF.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        motorRF.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        motorRB.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        intakeMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        hangMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        bucketMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        /*motorLB.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        motorLF.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        motorRF.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        motorRB.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        intakeMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        hangMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        bucketMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);*/

    }
}