org.firstinspires.ftc.teamcode.hardware

Class RackNPinonLift

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.hardware.Lift

public class RackNPinonLift
extends Mechanism

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

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.DcMotor	leftRackMotor
private com.qualcomm.robotcore.hardware.DcMotor	rightRackMotor

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

opMode

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes lift hardware.
void	rackToPos(double power) Sets power for rack motor based on encoder values.
void	setRackPower(double power) Sets power for rack motor.

Methods inherited from class java.lang.Object

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

Field Detail

leftRackMotor

private com.qualcomm.robotcore.hardware.DcMotor leftRackMotor

rightRackMotor

private com.qualcomm.robotcore.hardware.DcMotor rightRackMotor

Constructor Detail

RackNPinonLift

public RackNPinonLift()

Default constructor for Acquirer.

RackNPinonLift

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

Overloaded constructor for Lift. 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 lift hardware.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

setRackPower

public void setRackPower(double power)

Sets power for rack motor.

rackToPos

public void rackToPos(double power)

Sets power for rack motor based on encoder values.