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my code #39

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3 changes: 2 additions & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp_3231.java
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,8 @@ public void runOpMode() throws InterruptedException {
// Preset Values 50, 70, 100
shooter.shooter50();
} else if (wasBPressed) {
shooter.shooter70();
//shooter.shooter70();
shooter.randomShooter();
} else if (wasYPressed) {
shooter.shooter100();
} else if (gamepad2.dpad_left || gamepad2.dpad_right) {
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12 changes: 12 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import java.util.Random;

//Shooter class
public class Shooter {
Expand Down Expand Up @@ -67,6 +68,17 @@ public void shooter70() {
setMotorPower(this.shooterPower);
}

public void shooter(float power) {
this.shooterPower = power;
setMotorPower(this.shooterPower);
}

public void randomShooter() {
Random rand = new Random();
int n = rand.nextInt(100) + 1;
shooter(n);
}

public void reverseMotor() {
this.shooterPower = -1;
setMotorPower(this.shooterPower);
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