HardwarePushbot.java

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package org.firstinspires.ftc.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 HardwarePushbot
{
    /* Public OpMode members. */
    public DcMotor  leftFront   = null;
    public DcMotor  leftBack    = null;
    public DcMotor  rightFront  = null;
    public DcMotor  rightBack  = null;
    public DcMotor  spinner  = null;
    public DcMotor  collector   = null;
    public DcMotor  extender    = null;
    public Servo    dropper     = null;
    public Servo flipperLeft = null;
    public Servo flipperRight = null;
    public Servo distanceFront = null;
    public Servo distanceBack = null;

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

    /* Constructor */
    public HardwarePushbot(){

    }

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

        // Define and Initialize Motors
        leftFront  = hwMap.get(DcMotor.class, "leftFront");
        leftBack = hwMap.get(DcMotor.class, "leftBack");
        rightFront  = hwMap.get(DcMotor.class, "rightFront");
        rightBack = hwMap.get(DcMotor.class, "rightBack");

        spinner = hwMap.get(DcMotor.class, "spinner");
        collector = hwMap.get(DcMotor.class, "collector");
        extender = hwMap.get(DcMotor.class, "extender");
        dropper = hwMap.get(Servo.class, "dropper");
        flipperLeft = hwMap.get(Servo.class, "flipperLeft");
        flipperRight = hwMap.get(Servo.class, "flipperRight");
        distanceFront = hwMap.get(Servo.class, "distanceFront");
        distanceBack = hwMap.get(Servo.class, "distanceBack");
        leftFront.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
        leftBack.setDirection(DcMotor.Direction.FORWARD);
        rightFront.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors
        rightBack.setDirection(DcMotor.Direction.FORWARD);

    }
}