Continuously rotates servo when you stop pressing button.

GearUp12499-org · Oct 21, 2024 · 7c20a68 · 7c20a68
1 parent b684a79
commit 7c20a68
Showing 1 changed file with 11 additions and 12 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FieldCentricBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FieldCentricBlue.java
@@ -57,6 +57,7 @@ public class FieldCentricBlue
     IntegratingGyroscope gyro;
     NavxMicroNavigationSensor navxMicro;
     ElapsedTime timer = new ElapsedTime();
+
     // this is code is code you know what code it is i like coding yippee code epic epic epic epic for robot straferbot coiding code
     @Override
     public void runOpMode() throws InterruptedException {
@@ -67,7 +68,7 @@ public void runOpMode() throws InterruptedException {
         navxMicro = hardwareMap.get(NavxMicroNavigationSensor.class, "gyro");
         gyro = (IntegratingGyroscope) navxMicro;
 
-        RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class,"lights");
+        RevBlinkinLedDriver lights = hardwareMap.get(RevBlinkinLedDriver.class, "lights");
 
         DistanceSensor sensor = hardwareMap.get(DistanceSensor.class, "distance");
         telemetry.log().add("Gyro Calibrating. Do Not Move!");
@@ -88,9 +89,9 @@ public void runOpMode() throws InterruptedException {
 
         waitForStart();
         telemetry.log().clear();
-        if(gamepad2.a)
+        if (gamepad2.a)
             lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
-        if(gamepad2.b)
+        if (gamepad2.b)
             lights.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
         if (isStopRequested()) return;
         double distance = 100;
@@ -143,7 +144,7 @@ public void runOpMode() throws InterruptedException {
             hardware.backRight.setPower(backRightPower / 2);
 
 
-            double color= 15;
+            double color = 15;
             distance = sensor.getDistance(INCH);
             // telemetry.addData("distance", distance);
             //  telemetry.addData("color",color);
@@ -162,22 +163,20 @@ public void runOpMode() throws InterruptedException {
                     .addData("pitch", "%s deg", formatAngle(angles.angleUnit, angles.thirdAngle));
             telemetry.update();
 */
-         //   handservo(1.0);
+            //   handservo(1.0);
             display(1);
             blinkin(1);
-            if(gamepad1.dpad_down)
+            if (gamepad1.dpad_down)
                 crservo(90);
 
 
-
-
-
             //gamepad controls here.
             idle();
 
         }
 
     }
+
     private void initAprilTag() {
 
         // Create the AprilTag processor.
@@ -189,9 +188,6 @@ private void initAprilTag() {
         VisionPortal.Builder builder = new VisionPortal.Builder();
 
 
-
-
-
         // Set the camera (webcam vs. built-in RC phone camera).
         if (USE_WEBCAM) {
             builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
@@ -208,6 +204,7 @@ private void initAprilTag() {
         visionPortal = builder.build();
 
     }
+
     @SuppressLint("DefaultLocale")
     private void telemetryAprilTag() {
 
@@ -251,6 +248,7 @@ String formatAngle(AngleUnit angleUnit, double angle) {
     String formatDegrees(double degrees) {
         return String.format("%.1f", AngleUnit.DEGREES.normalize(degrees));
     }
+
     /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 //    public void turn(double target) {
@@ -327,6 +325,7 @@ public void crservo(double deltaAngle){
            if(gamepad1.b){
                con_servo.setPower(0);
            }
+
         }
     }
     /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////