org.firstinspires.ftc.teamcode.legacy.hardware

Class Hanger

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.legacy.hardware.Hanger

public class Hanger
extends Mechanism

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

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.DcMotor	leftHanger
private com.qualcomm.robotcore.hardware.DcMotor	rightHanger
private com.qualcomm.robotcore.hardware.DcMotor	winch

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

opMode

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	hangeToPos(double inches) Sets power for hanger motor based on encoder values.
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes hanger hardware.
void	setHangerPower(double power) Sets power for hanger motor.
void	spool(double power) Sets power for spool motor.

Methods inherited from class java.lang.Object

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

Field Detail

leftHanger

private com.qualcomm.robotcore.hardware.DcMotor leftHanger

rightHanger

private com.qualcomm.robotcore.hardware.DcMotor rightHanger

winch

private com.qualcomm.robotcore.hardware.DcMotor winch

Constructor Detail

Hanger

public Hanger()

Default constructor for Hanger.

Hanger

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

Overloaded constructor for hanger. 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 hanger hardware.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

setHangerPower

public void setHangerPower(double power)

Sets power for hanger motor.

spool

public void spool(double power)

Sets power for spool motor.

hangeToPos

public void hangeToPos(double inches)

Sets power for hanger motor based on encoder values.