Merge pull request FIRST-Tech-Challenge#4 from Mouse05/master

Hopper
ishgar686 · Dec 22, 2020 · 8df39ea · 8df39ea
2 parents 7042ad9 + 283706c
commit 8df39ea
Show file tree

Hide file tree

Showing 3 changed files with 15 additions and 3 deletions.
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IntakeClass.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/IntakeClass.java
@@ -12,6 +12,7 @@ abstract class IntakeClass extends LinearOpMode
 {
 
     protected DcMotor intake;
+    protected DcMotor hopper;
 
     public void runOpMode() {
         setupDriveMotors();
@@ -26,6 +27,7 @@ protected void setupDriveMotors() {
 
         updateTelemetryMessage("Initializing Motors");
         intake = hardwareMap.get(DcMotor.class, "intake");
+        hopper = hardwareMap.get(DcMotor.class, "hopper");
 
 
         // Most robots need the motor on one side to be reve`rsed to drive goBackward
@@ -49,7 +51,7 @@ protected void setupDriveMotors() {
 
     public void stop(final String message) {
         intake.setPower(0.0);
-
+        hopper.setPower(0.0);
 
         updateTelemetryMessage(message);
     }
@@ -82,7 +84,10 @@ public void intake(final double intakepower, final int duration){
         sleep(duration);
     }
 
-
+    public void hopper(final double hopperpower, final int duration){
+        hopper.setPower(hopperpower);
+        sleep(duration);
+    }
 
 /*
     public void armUp(final double armpower, final int duration) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/testing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/testing.java
@@ -27,6 +27,13 @@ public void runOpModeImpl() {
                         intake.setPower(0);
                     }
 
+                    if (gamepad1.x) {
+                        hopper.setPower(1);
+                    }
+
+                    if (gamepad1.y) {
+                        hopper.setPower(0);
+                    }
                     // left bumper - to close claw (front servo)