org.firstinspires.ftc.teamcode.legacy.hardware

Class Lift

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.legacy.hardware.Lift

public class Lift
extends Mechanism

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

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.DcMotor	leftLift
private com.qualcomm.robotcore.hardware.DcMotor	rightLift

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

opMode

Constructor Summary

Constructors

Constructor and Description
Lift() Default constructor for Acquirer.
Lift(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	liftToPos(double power) Sets power for lift motor based on encoder values.
void	setLiftPower(double power) Sets power for lift motor.

Methods inherited from class java.lang.Object

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

Field Detail

leftLift

private com.qualcomm.robotcore.hardware.DcMotor leftLift

rightLift

private com.qualcomm.robotcore.hardware.DcMotor rightLift

Constructor Detail

Lift

public Lift()

Default constructor for Acquirer.

Lift

public Lift(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

setLiftPower

public void setLiftPower(double power)

Sets power for lift motor.

liftToPos

public void liftToPos(double power)

Sets power for lift motor based on encoder values.