Merge remote-tracking branch 'origin/Train' into Train

Author: PatrickT209

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/NickTeleOp.java

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.drive.tuning;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+@Config
+@TeleOp
+public class NickTeleOp extends LinearOpMode {
+
+
+    private DcMotor rightFrontMotor;
+    private DcMotor leftBackMotor;
+    private DcMotor rightBackMotor;
+    private CRServo Grabber;
+    private CRServo tail;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        DcMotor leftFrontMotor = hardwareMap.get(DcMotor.class, "left_front_left_dw");
+        rightFrontMotor = hardwareMap.get(DcMotor.class, "right_front");
+        leftBackMotor = hardwareMap.get(DcMotor.class, "left_back");
+        rightBackMotor = hardwareMap.get(DcMotor.class, "right_back_right_dw");
+        Grabber = hardwareMap.get(CRServo.class, "Grabber");
+        tail = hardwareMap.get(CRServo.class, "servo");
+
+
+        waitForStart();
+        while (opModeIsActive()) {
+            leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx = gamepad1.right_stick_x;
+
+            leftFrontMotor.setPower(y + x + rx);
+            leftBackMotor.setPower(y - x + rx);
+            rightFrontMotor.setPower(y - x - rx);
+            rightBackMotor.setPower(y + x - rx);
+
+            if (gamepad1.left_bumper) {
+                tail.setPower(1.0);
+            } else if (gamepad1.right_bumper) {
+                tail.setPower(-1.0);
+            } else {
+                tail.setPower(0.0);
+
+                if (gamepad1.left_trigger > 0.5) {
+                    Grabber.setPower(1.0);
+                } else if (gamepad1.right_trigger > 0.5) {
+                    Grabber.setPower(-1.0);
+                } else {
+                    Grabber.setPower(0.0);
+                }
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java

@@ -13,11 +13,15 @@
 public class LearningTeleOp extends LinearOpMode {
 
 
+
+
+
     private DcMotor leftFrontMotor;
     private DcMotor rightFrontMotor;
     private DcMotor leftBackMotor;
     private DcMotor rightBackMotor;
     private CRServo Grabber;
+    private CRServo tail;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -27,6 +31,8 @@ public void runOpMode() throws InterruptedException {
         leftBackMotor = hardwareMap.get(DcMotor.class, "left_back");
         rightBackMotor = hardwareMap.get(DcMotor.class, "right_back_right_dw");
         Grabber = hardwareMap.get(CRServo.class, "Grabber");
+        tail = hardwareMap.get(CRServo.class, "servo");
+
 
         waitForStart();
         while (opModeIsActive()) {
@@ -40,25 +46,23 @@ public void runOpMode() throws InterruptedException {
             leftBackMotor.setPower(y - x + rx);
             rightFrontMotor.setPower(y - x - rx);
             rightBackMotor.setPower(y + x - rx);
-            if (gamepad1.a){
-                leftBackMotor.setPower(2);
-            rightBackMotor.setPower(2);
-            leftFrontMotor.setPower(2);
-            rightFrontMotor.setPower(2);}
 
+            if (gamepad1.left_bumper) {
+                tail.setPower(1.0);
+            } else if (gamepad1.right_bumper) {
+                tail.setPower(-1.0);
+            } else {
+                tail.setPower(0.0);
 
+                if (gamepad1.left_trigger > 0.5) {
+                    Grabber.setPower(1.0);
+                } else if (gamepad1.right_trigger > 0.5) {
+                    Grabber.setPower(-1.0);
+                } else {
+                    Grabber.setPower(0.0);
 
-            if (gamepad1.left_bumper)
-                Grabber.setPower(1);
-            else if (gamepad1.right_bumper)
-                Grabber.setPower(-1);
-            else Grabber.setPower(0);
-            //3 hours for 1 bracket... always remember to click code->reformat code
-
-            //TODO: Mess with servo in slot 2 in order to make the dog's arm rotate
-
+                }
+            }
         }
-
     }
-}
-
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/NickAndTrumanTeleOp.java

@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+public class NickAndTrumanTeleOp {
+}

build.gradle

@@ -11,7 +11,7 @@ buildscript {
     }
     dependencies {
         // Note for FTC Teams: Do not modify this yourself.
-        classpath 'com.android.tools.build:gradle:7.2.0'
+        classpath 'com.android.tools.build:gradle:8.6.1'
         classpath 'org.jetbrains.kotlin:kotlin-gradle-plugin:1.7.20'
     }
 }

gradle.properties

@@ -11,3 +11,6 @@ org.gradle.caching=true
 
 # Allow Gradle to use up to 1 GB of RAM
 org.gradle.jvmargs=-Xmx1024M
+android.defaults.buildfeatures.buildconfig=true
+android.nonTransitiveRClass=false
+android.nonFinalResIds=false

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists