HardwareMecanum.java

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package org.teamcode;

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

/**
 * This is NOT an opmode.
 *
 * This class can be used to define all the specific hardware for a single robot.
 * In this case that robot is a Pushbot.
 * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
 *
 * This hardware class assumes the following device names have been configured on the robot:
 * Note:  All names are lower case and some have single spaces between words.
 *
 * Motor channel:  Left  drive motor:        "left_drive"
 * Motor channel:  Right drive motor:        "right_drive"
 * Motor channel:  Manipulator drive motor:  "left_arm"
 * Servo channel:  Servo to open left claw:  "left_hand"
 * Servo channel:  Servo to open right claw: "right_hand"
 */
public class HardwareMecanum
{
    /* Public OpMode members. */
    public DcMotor  frontLeftDrive = null;
    public DcMotor  frontRightDrive = null;
    public DcMotor  backLeftDrive = null;
    public DcMotor backRightDrive = null;
    public DcMotor attachmentDrive = null;
    public DcMotor liftDriveLeft = null;
    public DcMotor liftDriveRight = null;


    /* local OpMode members. */
    HardwareMap hwMap           =  null;
    private ElapsedTime period  = new ElapsedTime();

    /* Constructor */
    public HardwareMecanum(){

    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
        // Save reference to Hardware map
        hwMap = ahwMap;

        // Define and Initialize Motors
        frontLeftDrive  = hwMap.get(DcMotor.class, "FL");
        frontRightDrive = hwMap.get(DcMotor.class, "FR");
        backLeftDrive    = hwMap.get(DcMotor.class, "BL");
        backRightDrive = hwMap.get(DcMotor.class, "BR");
        attachmentDrive = hwMap.get(DcMotor.class, "AD");
        liftDriveLeft = hwMap.get(DcMotor.class, "LDL");
        liftDriveRight = hwMap.get(DcMotor.class, "LDR");

        /* 
         * FL - Front Left
         * FR - Front Right
         * BL - Back Left
         * BR - Back Right
         * AD - Attachment Drive (Intake Sweeper)
         * LDL - Lift Drive Left
         * LDR - Lift Drive Right
        */




        frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
        frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
        backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
        backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
        attachmentDrive.setDirection(DcMotorSimple.Direction.FORWARD);

        frontLeftDrive.setPower(0);
        frontRightDrive.setPower(0);
        backLeftDrive.setPower(0);
        backRightDrive.setPower(0);
        attachmentDrive.setPower(0);

        // Set all motors to run without encoders.
        // May want to use RUN_USING_ENCODERS if encoders are installed.
        frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        attachmentDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
    }
 }