roadrunner

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt

@@ -1,34 +1,11 @@
 package org.firstinspires.ftc.teamcode.opModes.teleOp
 
 import com.arcrobotics.ftclib.command.CommandOpMode
-import com.arcrobotics.ftclib.gamepad.GamepadEx
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
-import org.firstinspires.ftc.teamcode.commands.drive.DriveCommand
-import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
 
 @TeleOp
-class MainTeleOp : CommandOpMode() {
-    private lateinit var driveSubsystem: DriveSubsystem
-
-    private lateinit var driveCommand: DriveCommand
-
-    private lateinit var driver: GamepadEx
+class MainTeleOp: CommandOpMode() {
     override fun initialize() {
-
-        driveSubsystem = DriveSubsystem(hardwareMap)
-
-        driver = GamepadEx(gamepad1)
-
-        driveCommand = DriveCommand(
-            driveSubsystem,
-            leftX = driver::getLeftX,
-            leftY = driver::getLeftY,
-            rightX = driver::getRightX,
-            zoneVal = 0.15
-        )
-
-        register(driveSubsystem)
-
-        driveSubsystem.defaultCommand = driveCommand
+        TODO("Not yet implemented")
     }
 }

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt

@@ -0,0 +1,33 @@
+package org.firstinspires.ftc.teamcode.subsystems.arm
+
+import com.arcrobotics.ftclib.command.SubsystemBase
+import com.arcrobotics.ftclib.hardware.motors.Motor
+import com.arcrobotics.ftclib.hardware.motors.MotorGroup
+
+class ArmSubsystem(
+// Here I am just declaring the motors and what they are called on our driver hub.
+        private val leftSlideAxel : Motor,
+        private val rightSlideAxel : Motor,
+
+) : SubsystemBase() {
+
+//Here I am making a motor group, as the arm motors are going to work together to to turn the slides.
+
+    private val turnMotors = MotorGroup(leftSlideAxel, rightSlideAxel)
+
+
+// Here are functions that work the motor, and the double is the speed of the motor, 1 being 100%.
+    fun clockwise() {
+        turnMotors.set(1.0)
+    }
+
+    fun anticlockwise() {
+        turnMotors.set(-1.0)
+    }
+
+    fun stop() {
+        turnMotors.set(0.0)
+    }
+
+
+}

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/SlidesSubsystem.kt

@@ -0,0 +1,33 @@
+package org.firstinspires.ftc.teamcode.subsystems.slides
+
+import com.arcrobotics.ftclib.command.SubsystemBase
+import com.arcrobotics.ftclib.hardware.motors.Motor
+import com.arcrobotics.ftclib.hardware.motors.MotorGroup
+
+class SlidesSubsystem(
+
+        //sets them as a private variable thats a motor (same name as in driver hub)
+        private val leftSlideString : Motor,
+        private val rightSlideString : Motor,
+
+) : SubsystemBase() {
+    //makes a motor group bc you have to move them at the same time
+    private val elevatorMotors = MotorGroup(leftSlideString, rightSlideString)
+
+
+    // Functions for moving slides up and down, number being speed, 1 being 100%
+    fun up() {
+
+        elevatorMotors.set(1.0)
+    }
+
+    fun down() {
+        elevatorMotors.set(-1.0)
+    }
+
+    fun stop() {
+        elevatorMotors.set(0.0)
+    }
+
+
+}