org.firstinspires.ftc.teamcode.hardware

Class Arm

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.hardware.Arm

public class Arm
extends Mechanism

Arm is the class that is used to define all of the hardware for a robot's arm. Arm must be instantiated, then initialized using init() before being used.

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.Servo	arm
private static double	ARM_DOWN_POS
private static double	ARM_INIT_POS
private static double	ARM_UP_POS
private com.qualcomm.robotcore.hardware.Servo	sweeper
private static double	SWEEPER_LEFT_POS
private static double	SWEEPER_NEUTRAL_POS
private static double	SWEEPER_RIGHT_POS

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

opMode

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	armDown() Set the arm to the down position
void	armInit() Set the arm to the init position.
void	armUp() Set the arm to the up position.
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes arm hardware.
void	sweeperLeft() Set the sweeper to the left position.
void	sweeperNeutral() Set the sweeper to the neutral position.
void	sweeperRight() Set the sweeper to the right position.

Methods inherited from class java.lang.Object

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

Field Detail

ARM_INIT_POS

private static final double ARM_INIT_POS

See Also:

Constant Field Values

ARM_UP_POS

private static final double ARM_UP_POS

See Also:

Constant Field Values

ARM_DOWN_POS

private static final double ARM_DOWN_POS

See Also:

Constant Field Values

SWEEPER_LEFT_POS

private static final double SWEEPER_LEFT_POS

See Also:

Constant Field Values

SWEEPER_NEUTRAL_POS

private static final double SWEEPER_NEUTRAL_POS

See Also:

Constant Field Values

SWEEPER_RIGHT_POS

private static final double SWEEPER_RIGHT_POS

See Also:

Constant Field Values

arm

private com.qualcomm.robotcore.hardware.Servo arm

sweeper

private com.qualcomm.robotcore.hardware.Servo sweeper

Constructor Detail

Arm

public Arm()

Default constructor for Arm.

Arm

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

Overloaded constructor for Arm. 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 arm hardware.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

armInit

public void armInit()

Set the arm to the init position.

armUp

public void armUp()

Set the arm to the up position.

armDown

public void armDown()

Set the arm to the down position

sweeperLeft

public void sweeperLeft()

Set the sweeper to the left position.

sweeperNeutral

public void sweeperNeutral()

Set the sweeper to the neutral position.

sweeperRight

public void sweeperRight()

Set the sweeper to the right position.