TemplateOpMode_Iterative.java

/*
Copyright (c) 2016 Robert Atkinson

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.text.SimpleDateFormat;
import java.util.Date;

/**
 * This file contains an example of an iterative (Non-Linear) "OpMode".
 * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
 * The names of OpModes appear on the menu of the FTC Driver Station.
 * When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a PushBot
 * It includes all the skeletal structure that all iterative OpModes contain.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode listb
 */

@TeleOp(name="Template: Iterative OpMode", group="Iterative Opmode")  // @Autonomous(...) is the other common choice

public class TemplateOpMode_Iterative extends OpMode //class called TemplateOpMode_Iterative and its inheriting OpMode.
{
    /* Declare OpMode members. */    //Imported
    private ElapsedTime runtime = new ElapsedTime();

    private DcMotor two = null; //Declaring variables to an imported hardware object and naming them left and right motor.
    private DcMotor four = null;
    private DcMotor one = null;
    private DcMotor three = null;




    /*
     * Code to run ONCE when the driver hits INIT
     */
    @Override //Taking methods and giving it different functions.
    public void init() {
        telemetry.addData("Status", "Initialized"); //Adding new robot state data

        /* eg: Initialize the hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names assigned during the robot configuration
         * step (using the FTC Robot Controller app on the phone)
         */
        two = hardwareMap.dcMotor.get("two"); //Assinging HardwareMap object to the right and left drive variables.
        four = hardwareMap.dcMotor.get("four");
        one = hardwareMap.dcMotor.get("one");
        three = hardwareMap.dcMotor.get("three");


        // eg: Set the drive motor directions:
        // Reverse the motor that runs backwards when connected directly to the battery
        two.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
        four.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors
        one.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors
        three.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors


        telemetry.addData("Status", "Initialized"); //Adjusting data of robot state
    }

    /*
     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
     */
    @Override
    public void init_loop() {
    }

    /*
     * Code to run ONCE when the driver hits PLAY
     */
    @Override
    public void start() {
        runtime.reset();
    }
    /*-
     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
     */
    @Override
    public void loop() {
        telemetry.addData("Status", "Running: " + runtime.toString());

        // eg: Run wheels in tank mode (note: The joystick goes negative when pushed forwards)
        two.setPower(-gamepad1.right_stick_x); //objects connecting to hardwaremap
        four.setPower(-gamepad1.right_stick_y); // in a loop telling the gamepad what to do
        one.setPower(-gamepad1.right_stick_x); //objects connecting to hardwaremap
        three.setPower(-gamepad1.right_stick_y); // in a loop telling the gamepad what to do

    }

    /*
     * Code to run ONCE after the driver hits STOP
     */
    @Override
    public void stop() {
    }

}