Telemark Unit 8.5 Simulator

Two-way slide · Upper and lower limits · Safe stop

8.5 — Two-Way Slide with Two Limits

Control the slide proportionally with gamepad1.left_stick_y. Block positive power at the upper limit, block negative power at the lower limit, and command zero for every neutral or unsafe request.

Slide motor mapped in init()

Upper and lower limits mapped and set to INPUT

Direction, BRAKE, and proportional joystick power configured

Positive power blocked at upper limit

Negative power blocked at lower limit

Telemetry shows both limits and applied power

@TeleOp(name="Two_Way_Slide")
public class TwoWaySlide extends OpMode {

DcMotor slideMotor;
    DigitalChannel upperLimit;
    DigitalChannel lowerLimit;

@Override
    public void init() {
        slideMotor = hardwareMap.get(DcMotor.class, "slide");
        upperLimit = hardwareMap.get(DigitalChannel.class, "limit_upper");
        lowerLimit = hardwareMap.get(DigitalChannel.class, "limit_lower");

upperLimit.setMode(DigitalChannel.Mode.INPUT);
        lowerLimit.setMode(DigitalChannel.Mode.INPUT);
        slideMotor.setDirection(DcMotor.Direction.REVERSE);
        slideMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        slideMotor.setPower(0.0);

telemetry.addData("Status", "Initialized");
    }

@Override
    public void loop() {
        double requestedPower = -gamepad1.left_stick_y;
        boolean atUpper = !upperLimit.getState();
        boolean atLower = !lowerLimit.getState();
        double appliedPower;

// TODO: Allow positive only below the upper limit, negative only above
        // the lower limit, and use 0.0 for every neutral or unsafe request.

slideMotor.setPower(appliedPower);
        telemetry.addData("Slide Power", appliedPower);
        telemetry.addData("At Upper Limit", atUpper);
        telemetry.addData("At Lower Limit", atLower);
        telemetry.update();
    }
}

STOPPED Time: 0.00s

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