org.firstinspires.ftc.teamcode.hardware

Class Acquirer

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.hardware.Acquirer_Slides

public class Acquirer
extends Mechanism

Acquirer is the class that is used to define all of the hardware for a robot's acquirer. Acquirer must be instantiated, then initialized using init() before being used. This class also contains autonomous actions involving the acquirer.

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.Servo	acquirerFloor
private com.qualcomm.robotcore.hardware.CRServo	leftIntakeMotor
private com.qualcomm.robotcore.hardware.DcMotor	linearSlide
private com.qualcomm.robotcore.hardware.CRServo	rightIntakeMotor
private com.qualcomm.robotcore.hardware.DcMotor	rotationBack
private com.qualcomm.robotcore.hardware.DcMotor	rotationForward
private static double	SERVO_CENTER_POS
private static double	SERVO_INIT_POS

Fields inherited from class org.firstinspires.ftc.teamcode.hardware.Mechanism

opMode

Constructor Summary

Constructors

Constructor and Description
Acquirer() Default constructor for Acquirer.
Acquirer(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode opMode) Overloaded constructor for Acquirer.

Method Summary

Modifier and Type	Method and Description
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes acquirer hardware.
void	setIntakePower(double power) Sets power for intake motor.
void	setLinearSlidePower(double power) Sets power for linear slides motors.
void	setRotationPower(double power) Sets power for rotation motors.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SERVO_INIT_POS

private static final double SERVO_INIT_POS

See Also:

Constant Field Values

SERVO_CENTER_POS

private static final double SERVO_CENTER_POS

See Also:

Constant Field Values

rotationBack

private com.qualcomm.robotcore.hardware.DcMotor rotationBack

rotationForward

private com.qualcomm.robotcore.hardware.DcMotor rotationForward

linearSlide

private com.qualcomm.robotcore.hardware.DcMotor linearSlide

rightIntakeMotor

private com.qualcomm.robotcore.hardware.CRServo rightIntakeMotor

leftIntakeMotor

private com.qualcomm.robotcore.hardware.CRServo leftIntakeMotor

acquirerFloor

private com.qualcomm.robotcore.hardware.Servo acquirerFloor

Constructor Detail

Acquirer

public Acquirer()

Default constructor for Acquirer.

Acquirer

public Acquirer(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode opMode)

Overloaded constructor for Acquirer. Sets the OpMode context.

Parameters:

opMode - the LinearOpMode that is currently running

Method Detail

init

public void init(com.qualcomm.robotcore.hardware.HardwareMap hwMap)

Initializes acquirer hardware.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

setIntakePower

public void setIntakePower(double power)

Sets power for intake motor.

Parameters:

power - Motor power with range of (-1 to 1)

setRotationPower

public void setRotationPower(double power)

Sets power for rotation motors.

Parameters:

power - Motor power with range of (-1 to 1)

setLinearSlidePower

public void setLinearSlidePower(double power)

Sets power for linear slides motors.

Parameters:

power - Motor power with range of (-1 to 1)