org.firstinspires.ftc.teamcode.legacy.hardware.tankdrive

Class HardwareTank

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Mechanism

org.firstinspires.ftc.teamcode.legacy.hardware.tankdrive.HardwareTank

public class HardwareTank
extends Mechanism

HardwareTank is the class that is used to define all of the hardware for a single robot. In this case, the robot is: Rover Ruckus. This class contains autonomous actions involving multiple mechanisms. These actions may be common to more than one routine.

Field Summary

Fields

Modifier and Type	Field and Description
Drivetrain	drivetrain Instance variable containing robot's drivetrain.
Hanger	hanger Instance variable containing robot's Hanger.
Marker	marker Instance variable containing robot's markers arm.

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

opMode

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	init(com.qualcomm.robotcore.hardware.HardwareMap hwMap) Initializes all mechanisms on the robot.
void	land()
void	markerDrop() Autonomous action for dropping the marker.
void	sample(VisionManager visionManager)
void	samplePID(VisionManager visionManager) Autonomous action for sampling the gold cube.
void	waitForStart() Waits for opMode's to start.

Methods inherited from class java.lang.Object

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

Field Detail

drivetrain

public Drivetrain drivetrain

Instance variable containing robot's drivetrain.

hanger

public Hanger hanger

Instance variable containing robot's Hanger.

marker

public Marker marker

Instance variable containing robot's markers arm.

Constructor Detail

HardwareTank

public HardwareTank()

Default constructor for HardwareMain. Instantiates public mechanism instance variables.

HardwareTank

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

Overloaded constructor for HardwareMain. Calls the default constructor and sets the OpMode context for the robot.

Parameters:

opMode - the LinearOpMode that is currently running

Method Detail

init

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

Initializes all mechanisms on the robot.

Specified by:

init in class Mechanism

Parameters:

hwMap - robot's hardware map

waitForStart

public void waitForStart()

Waits for opMode's to start. Can perform actions while waiting.

land

public void land()

sample

public void sample(VisionManager visionManager)

samplePID

public void samplePID(VisionManager visionManager)

Autonomous action for sampling the gold cube. Uses the robot's servo arm mechanism to detect gold cube and in a linear slide fashion. This assumes the vision sensor faces the back of the robot.

Parameters:

visionManager - VisionManager containing the GoldDetector

markerDrop

public void markerDrop()

Autonomous action for dropping the marker. Uses the robot's distance sensor to detect the robot's position using the vuforia pictograph. Moves parallel to wall until the edge is reached.