Theodore Teleop

TheodoreTeleop.java

package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
// everything before this line IntelliJ writes out for you automatically as you use stuff.

/**
 * Created by liam on 9/19/2015.
 */
public class TheodoreTeleop extends OpMode { // declares a new opmode. IntelliJ does this automatically for you.
    // these are /kind of/ like the #pragmas in RobotC
    private DcMotorController drive_motor_controller;
    private DcMotor drive_left;
    private DcMotor drive_right;
    
    @Override
    public void init() {
        // here we get a reference to the motor controller called "drive_controller" in the config file
        drive_motor_controller = hardwareMap.dcMotorController.get("drive_controller");
        
        // then let's get references to the motors "left_drive" and "right_drive"
        drive_left = hardwareMap.dcMotor.get("left_drive");
        drive_right = hardwareMap.dcMotor.get("right_drive");
        
        // reverse one of the motors (because it's a tank drive)
        drive_left.setDirection(DcMotor.Direction.REVERSE);
        
        // set both of the motors to use a bit of PID to keep them running at a constant speed
        drive_left.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
        drive_right.setChannelMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
    }

    @Override
    public void loop() { // this gets run again and again and again
        // and every time around, we grab the stick value, negate them (because they come in with the wrong sign),
        // and then set the power of the drivetrain motors.
        drive_left.setPower(gamepad1.left_stick_y);
        drive_right.setPower(gamepad1.right_stick_y);
    }
}