From 6e6e6268162e2a0359ebd051a5029dabfc970773 Mon Sep 17 00:00:00 2001 From: Carlos Date: Mon, 1 Apr 2024 22:21:01 -0700 Subject: [PATCH] Add sample MovementLibrary file --- .../teamcode/cometbots/MovementLibrary.java | 40 +++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java new file mode 100644 index 000000000..021552ece --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java @@ -0,0 +1,40 @@ +package org.firstinspires.ftc.teamcode.cometbots; + +import com.qualcomm.robotcore.hardware.DcMotor; + +public class MovementLibrary { + + public static void setDirectionForward(DcMotor[] motors) { + motors[0].setDirection(DcMotor.Direction.REVERSE); + motors[1].setDirection(DcMotor.Direction.FORWARD); + motors[2].setDirection(DcMotor.Direction.FORWARD); + motors[3].setDirection(DcMotor.Direction.REVERSE); + } + + public static void setDirectionBackward(DcMotor[] motors) { + motors[0].setDirection(DcMotor.Direction.FORWARD); + motors[1].setDirection(DcMotor.Direction.REVERSE); + motors[2].setDirection(DcMotor.Direction.REVERSE); + motors[3].setDirection(DcMotor.Direction.FORWARD); + } + + public static void setSpeed(DcMotor[] motors, double speedValue) { + for (DcMotor motor : motors) { + motor.setPower(speedValue); + } + } + + public static void setDirectionRight(DcMotor[] motors) { + motors[0].setDirection(DcMotor.Direction.REVERSE); + motors[1].setDirection(DcMotor.Direction.REVERSE); + motors[2].setDirection(DcMotor.Direction.FORWARD); + motors[3].setDirection(DcMotor.Direction.FORWARD); + } + + public static void setDirectionLeft(DcMotor[] motors) { + motors[0].setDirection(DcMotor.Direction.FORWARD); + motors[1].setDirection(DcMotor.Direction.FORWARD); + motors[2].setDirection(DcMotor.Direction.REVERSE); + motors[3].setDirection(DcMotor.Direction.REVERSE); + } +}