runOpMode This function is executed when this Op Mode is selected from the Driver Station. Reverse one of the drive motors. LeftDriveAsDcMotor Direction You will have to determine which motor to reverse for your robot. In this example, the right motor was reversed so that positive applied power makes it move the robot in the forward direction. {"IDENTIFIER":"LeftDrive"} REVERSE DuckSpinnerAsServo Position {"IDENTIFIER":"DuckSpinner"} 0 Wait for the game to start (driver presses PLAY) Run until end of the match WHILE DRIVETRAIN CODE Power LeftDriveAsDcMotor RightDriveAsDcMotor The Y axis of a joystick ranges from -1 in its topmost position to +1 in its bottommost position. We negate this value so that the topmost position corresponds to maximum forward power. {"IDENTIFIER1":"LeftDrive","IDENTIFIER2":"RightDrive"} 1 NEG gamepad1 LeftStickY {"IDENTIFIER":"gamepad1"} 1 NEG gamepad1 RightStickY {"IDENTIFIER":"gamepad1"} INTAKE CODE GT gamepad1 RightTrigger {"IDENTIFIER":"gamepad1"} 0.5 IntakeAsDcMotor Power {"IDENTIFIER":"Intake"} 0 gamepad1 RightTrigger {"IDENTIFIER":"gamepad1"} GT gamepad1 LeftTrigger {"IDENTIFIER":"gamepad1"} 0.5 IntakeAsDcMotor Power {"IDENTIFIER":"Intake"} 0 NEG 9 gamepad1 LeftTrigger {"IDENTIFIER":"gamepad1"} IntakeAsDcMotor Power {"IDENTIFIER":"Intake"} 0 0 ARM CODE gamepad1 A {"IDENTIFIER":"gamepad1"} On the ground for starting and intake ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 0 0 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 gamepad1 X {"IDENTIFIER":"gamepad1"} Low level on the goal ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 120 120 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 1 gamepad1 Y {"IDENTIFIER":"gamepad1"} Mid level on the goal ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 260 260 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 1 gamepad1 B {"IDENTIFIER":"gamepad1"} High level on the goal ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 410 410 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 1 gamepad1 RightBumper {"IDENTIFIER":"gamepad1"} High level on the goal scoring backwards ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 1420 1420 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 1 gamepad1 LeftBumper {"IDENTIFIER":"gamepad1"} Mid level on the goal scoring backwards ArmAsDcMotor TargetPosition {"IDENTIFIER":"Arm"} 1570 1570 ArmAsDcMotor Mode {"IDENTIFIER":"Arm"} RUN_TO_POSITION ArmAsDcMotor Power {"IDENTIFIER":"Arm"} 1 1 gamepad1 DpadRight {"IDENTIFIER":"gamepad1"} Duck spinner direction #1 DuckSpinnerAsServo Position {"IDENTIFIER":"DuckSpinner"} 0 gamepad1 DpadLeft {"IDENTIFIER":"gamepad1"} Duck spinner direction #2 DuckSpinnerAsServo Position {"IDENTIFIER":"DuckSpinner"} 1 Duck spinner stop when not pressing buttons DuckSpinnerAsServo Position {"IDENTIFIER":"DuckSpinner"} 0.5