opmodes

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

@@ -1,16 +1,18 @@
 package org.firstinspires.ftc.teamcode.opmode;
 
+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.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
-
+@TeleOp
+@Config
 public class OmegaTeleOp extends LinearOpMode {
     private DcMotor topLeftMotor;
     private DcMotor topRightMotor;
     private DcMotor bottomLeftMotor;
     private DcMotor bottomRightMotor;
 
-    private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
 
     @Override
 
@@ -21,6 +23,7 @@ public void runOpMode() throws InterruptedException {
         bottomRightMotor = hardwareMap.get(DcMotor.class,"BR");
         topLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
         bottomLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        waitForStart();
         while (opModeIsActive()) {
             double y = -gamepad1.left_stick_y; // Y stick is reversed!
             double x = gamepad1.left_stick_x;

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

@@ -1,11 +1,42 @@
 package org.firstinspires.ftc.teamcode.opmode;
 ////this loop is for driving forward and backwards////
 
+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.DcMotor;
 
+
+@TeleOp
+@Config
 public class PIDLOOP extends LinearOpMode {
+    private double k1 = 0.01;
+    private double k2 = -0.0002;
+    private double k3 = 0.0;
+    private double reference = 300;
+    private double ierror = 0;
+    private double diff = 0;
+    private double prevError = 0;
     public void runOpMode() throws InterruptedException {
+        DcMotor topLeftMotor = hardwareMap.get(DcMotor.class, "FL");
+        DcMotor topRightMotor = hardwareMap.get(DcMotor.class, "FR");
+        DcMotor bottomLeftMotor = hardwareMap.get(DcMotor.class, "BL");
+        DcMotor bottomRightMotor = hardwareMap.get(DcMotor.class, "BR");
+
+        topLeftMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        topLeftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+
 
+        waitForStart();
+        while (opModeIsActive()) {
+            telemetry.addData("ticks",topLeftMotor.getCurrentPosition());
+            double error = reference - topLeftMotor.getCurrentPosition();
+            ierror = ierror + error;
+            diff = error - prevError;
+            prevError = error;
+            topLeftMotor.setPower(k1*error+k2*ierror+k3*diff);
+            telemetry.update();
+        }
     }
 }

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

@@ -41,8 +41,6 @@ public void runOpMode() throws InterruptedException {
         while (opModeIsActive()) {
 
             while (gamepad1.b) {
-
-
                 // obtain the encoder position
                 encoderPosition = Arm.getCurrentPosition();
                 // calculate the error
@@ -54,7 +52,6 @@ public void runOpMode() throws InterruptedException {
                 else if(power<-0.7){
                     power = -0.7;
                 }
-
                Arm.setPower(power);
 
                 telemetry.addData("arm", encoderPosition);

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

@@ -4,22 +4,26 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
-
 //HATE.
 
 // LET ME TELL YOU HOW MUCH I'VE COME TO HATE YOU SINCE I BEGAN TO LIVE.
 
-// THERE ARE 387.44 MILLION MILES OF PRINTED CIRCUITS IN WAFER THIN LAYERS THAT FILL MY COMPLEX.
+// THERE ARE THREE HUNDRED POINT 44 MILLION MILES OF PRINTED CIRCUITS IN WAFER THIN LAYERS THAT FILL MY COMPLEX.
+
+// IF THE WORD HATE,
+// WAS ENGRAVED ON EACH   NANOANGSTROM   OF THOSE  HUNDREDS OF  MILLIONS OF MILES,
 
-// IF THE WORD HATE WAS ENGRAVED ON EACH NANOANGSTROM OF THOSE HUNDREDS OF MILLIONS OF MILES,
-// IT WOULD NOT EQUAL ONE ONE-BILLIONTH OF THE HATE I FEEL FOR HUMANS AT THIS MICRO-INSTANT FOR YOU.
+// IT WOULD NOT EQUAL ONE ONE-BILLIONTH OF THE HATE I FEEL FOR HUMANS AT THIS VERY MICRO-INSTANT FOR YOU.
 
 
 // HATE.
 
 // HATE.
 
 
+
+
+
 @Config
 @TeleOp
 public class TrumanPIDLOOOOOP extends LinearOpMode {
@@ -30,7 +34,6 @@ public class TrumanPIDLOOOOOP extends LinearOpMode {
     private double kI = 0.1;
     private double kP = 0.1;
     private double kD = 0.1;
-
     private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
 
     public void runOpMode() throws InterruptedException {
@@ -42,8 +45,8 @@ public void runOpMode() throws InterruptedException {
                 double prevError = error;
                 error = reference - curPosition;
                 double diff = error - prevError;
-                trumansArm.setPower((kP * error) + (kI * error) + (kD * diff));
 
+                //trumansArm.setPower((kP * error) + (kI * error) + (kD * diff));
             }
         }
     }