First commit

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/FreshBot.java

@@ -0,0 +1,69 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.drivetrain.Drivetrain;
+import org.firstinspires.ftc.teamcode.drivetrain.MecanumDrive;
+@Config
+@TeleOp
+public class FreshBot extends LinearOpMode {
+    public static double P=0, I=0, D=0;
+    ElapsedTime headingTimer = new ElapsedTime();
+
+    // add extends LinearOpMode to inherit object Linear OpMode
+    public void runOpMode() throws InterruptedException {  // throws error if something is wrong
+        Drivetrain drivetrain = new MecanumDrive(hardwareMap);  // creates new instance of the object Drivetrain; includes hardware map
+        Imu imu = new Imu(hardwareMap);
+        PIDController headingControl = new PIDController(P, I, D);
+        double targetheading = 0;
+        double turnpower = 0;
+        boolean holdHeading = true;
+
+        waitForStart(); // initialising code will be entered before; if nothing then have to start to start code
+        while(opModeIsActive()){
+
+            double driveTurn = Math.pow(-gamepad1.right_stick_x, 1); // adds game pad controls to
+            double driveY = -Math.pow(-gamepad1.left_stick_x, 1);
+            double driveX = -Math.pow(-gamepad1.left_stick_y, 1);
+            double magnitude = Math.hypot(driveX, driveY);
+            double theta = Math.toDegrees(Math.atan2(driveY, driveX));
+            theta = theta - imu.getHeading();
+            headingControl.setPID(P,I,D);
+
+            if(driveTurn == 0){
+                if (headingTimer.seconds()>1){
+                double currentHeading = imu.getHeading();
+                double error = targetheading - currentHeading;
+                turnpower = headingControl.calculate(0, error);
+                    if(Math.abs(error)<2){
+                         turnpower = 0;
+                 }
+                driveTurn = turnpower;
+                }
+                else{
+                    targetheading = imu.getHeading();
+                }
+            }
+            else{
+               headingTimer.reset();
+                targetheading = imu.getHeading();
+
+            }
+
+            drivetrain.drive(magnitude, theta, driveTurn, 0.8);
+
+
+            telemetry.addData("heading: ", imu.getHeading());
+            telemetry.addData("turnPower: ", turnpower);
+            telemetry.addData("targetHeading: ", targetheading);
+            telemetry.addData("driveTurn: ", driveTurn);
+            telemetry.update();
+
+        }
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/FreshClaw.java

@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.qualcomm.robotcore.hardware.Servo;
+
+public class FreshClaw {
+
+    Servo Claw;
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/FreshSlides.java

@@ -0,0 +1,34 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class FreshSlides {
+     DcMotorEx Slides1;
+     DcMotorEx Slides2;
+
+     double slidePower;
+
+    // constructor
+    public FreshSlides(HardwareMap hwmap){
+        Slides1 = hwmap.get(DcMotorEx.class, "Slide1");
+        Slides2 = hwmap.get(DcMotorEx.class, "Slide2");
+        Slides1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        Slides2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        slidePower = 1;
+    }
+
+    public void goUp(){
+        Slides1.setPower(slidePower);
+        Slides2.setPower(slidePower);
+    }
+
+    public void goDown(){
+        Slides1.setPower(-slidePower);
+        Slides2.setPower(-slidePower);
+    }
+
+
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/Imu.java

@@ -0,0 +1,21 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+
+public class Imu {
+    private IMU imu;
+    public Imu(HardwareMap Hardwaremap){
+        imu = Hardwaremap.get(IMU.class,"imu");
+        imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.RIGHT)));
+        imu.resetYaw();
+    }
+
+    public double getHeading() {
+        return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
+    }
+
+}

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-7.5-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists