CRServo.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;


/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="CRServo", group="Linear Opmode")
@Disabled
public class CRServo extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private ElapsedTime rtServo = new ElapsedTime();

    private Servo servo;

    static final double increment = 0.01;
    static final double maxPos = 1.0;
    static final double minPos = 0.0;

    @Override   public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        servo  = hardwareMap.get(Servo.class, "cup_servo");

        double servoPosition = (maxPos - minPos)/2;

        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        runtime.reset();
        rtServo.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
            boolean leftBumperPressed = gamepad1.left_bumper;
            if(leftBumperPressed) {
                if(rtServo.seconds() > 0.5) {
                    servoPosition += increment;
                    if(servoPosition >= maxPos)
                        servoPosition = minPos;
                    servo.setPosition(servoPosition);
                }
                rtServo.reset();
            }
            // Show the elapsed game time and wheel power.
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            //telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
            telemetry.update();
        }
    }
}