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Created my first OpMode for Mecanum Drive #31

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Merged
ngarnsworthy merged 1 commit into from
Nov 12, 2025
Merged

Created my first OpMode for Mecanum Drive #31

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51 changes: 51 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/ChaseFirstOpMode.java
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package org.firstinspires.ftc.teamcode.OpModes.learning;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

import org.firstinspires.ftc.teamcode.Constants;

@TeleOp(name="Chase's OpMode", group = "Example OpMode")
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Copilot AI Nov 12, 2025

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Missing @disabled annotation. All other learning OpModes (BrodysFIRSTOpMode.java and NicksFIRSTJavaOpMode.java) include the @disabled annotation to prevent accidental selection during competition. Add @Disabled on line 11 before the class declaration for consistency with the team's learning OpMode pattern.

Suggested change
@TeleOp(name="Chase's OpMode", group = "Example OpMode")
@TeleOp(name="Chase's OpMode", group = "Example OpMode")
@com.qualcomm.robotcore.eventloop.opmode.Disabled

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public class ChaseFirstOpMode extends OpMode {
private DcMotor frontLeftMotor;
private DcMotor frontRightMotor;
private DcMotor backLeftMotor;
private DcMotor backRightMotor;

@Override
public void init() {
frontLeftMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.flMotorName);
frontRightMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.frMotorName);
backLeftMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.blMotorName);
backRightMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.brMotorName);

frontLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);

telemetry.addData("Status", "Initialized");
telemetry.update();
}

@Override
public void loop() {
double y = gamepad1.left_stick_y;
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Copilot AI Nov 12, 2025

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The Y-axis should be negated. In FTC, the gamepad's left_stick_y returns negative values when pushed forward. Other learning OpModes in this directory (BrodysFIRSTOpMode.java and NicksFIRSTJavaOpMode.java) use -gamepad1.left_stick_y to ensure pushing the stick forward makes the robot move forward. Without negation, the robot will move backward when the stick is pushed forward.

Suggested change
double y = gamepad1.left_stick_y;
double y = -gamepad1.left_stick_y;

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double x = gamepad1.left_stick_x;
double rx = gamepad1.right_stick_x;

double denominator = Math.max(Math.abs(x) + Math.abs(y) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double backRightPower = (y + x - rx) / denominator;

frontLeftMotor.setPower(frontLeftPower);
frontRightMotor.setPower(frontRightPower);
backLeftMotor.setPower(backLeftPower);
backRightMotor.setPower(backRightPower);

telemetry.addData("Status", "Running");
telemetry.update();
}
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[nitpick] Missing stop() method override. For consistency with other learning OpModes in this directory, consider adding a stop() method that updates telemetry status to 'Stopped', similar to BrodysFIRSTOpMode.java and NicksFIRSTJavaOpMode.java. This helps students understand the complete OpMode lifecycle.

Suggested change
}
}
@Override
public void stop() {
telemetry.addData("Status", "Stopped");
telemetry.update();
}

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}
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