Lesson 13.7: Build MotorMechanism.java and Lift.java

The lift shares basic motor setup with other powered mechanisms. Put that shared behavior in MotorMechanism, then let Lift add encoder targets and lift-specific stopping.

The Parent Class

MotorMechanism.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;

public class MotorMechanism {
    protected DcMotor motor;

    public void init(HardwareMap hardwareMap, String name) {
        motor = hardwareMap.get(DcMotor.class, name);
        motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        stop();
    }

    public void stop() {
        motor.setPower(0.0);
    }
}

protected allows Lift to use the motor while keeping unrelated OpMode code out.

The Lift Class

Lift.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;

public class Lift extends MotorMechanism {
  public void init(HardwareMap hardwareMap) {
      super.init(hardwareMap, RobotConfig.LIFT_NAME);
      motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
      motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
  }

  public void moveToScore() {
      motor.setTargetPosition(RobotConfig.LIFT_SCORE_TICKS);
      motor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
      motor.setPower(RobotConfig.LIFT_POWER);
  }

  public boolean isAtTarget() {
      return !motor.isBusy();
  }

  public void update() {
      if (isAtTarget()) stop();
  }

  @Override
  public void stop() {
      motor.setPower(0.0);
  }
}

moveToScore() starts motion and returns. It does not wait in a loop. The OpMode can continue updating its drivetrain, vision, and intake while the lift moves.

update() checks progress during each OpMode cycle. This same non-blocking contract will matter in the final autonomous state machine.

Project Practice

Complete the lift target command and verify the inheritance, override, and status methods.

Unit 13.7 Lift Project

Each tab is a separate Java file in the same TeamCode package. Every stage compiles as one project, and the finished TeleOp can run.

Your project saves in this browser. Export it after Lesson 13.9 so you can use the same classes in the final autonomous lesson.

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