pid loop and new

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java

@@ -10,6 +10,7 @@
 
 @Config
 @TeleOp
+
 public class nickpidloop extends LinearOpMode {
 
     private DcMotor leftFrontMotor;
@@ -19,7 +20,7 @@ public class nickpidloop extends LinearOpMode {
     private DcMotor Arm;
     double refrence;
 
-    public void runOpMode()  throws InterruptedException {
+    public void runOpMode() throws InterruptedException {
 
         leftFrontMotor = hardwareMap.get(DcMotor.class, "front_left");
         rightFrontMotor = hardwareMap.get(DcMotor.class, "front_right");
@@ -32,10 +33,10 @@ public void runOpMode()  throws InterruptedException {
         double power = 0;
         double difference = 0;
         double preverror = 0;
+        double k = 0;
         double kp = 0;
         double Ki = 0;
         double kg = 0;
-        double k = 0;
 
 
 
@@ -45,16 +46,13 @@ public void runOpMode()  throws InterruptedException {
 
         while (opModeIsActive()) {
 
-        while (gamepad1.b);
+            while (gamepad1.b) ;
 
-        error = preverror + error;
-                difference = error -preverror;
-                preverror = error;
-                power = k*(error) + Ki*(error)+ kg;
-
-                }
+            error = preverror + error;
+            difference = error - preverror;
+            preverror = error;
+            power = k * (error) + Ki * (error) + kg;
 
         }
     }
-
-
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/workingpidloop18284.java

@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+@Config
+@TeleOp
+public class workingpidloop18284 extends LinearOpMode {
+
+
+    private DcMotor leftFrontMotor;
+    private DcMotor rightFrontMotor;
+    private DcMotor leftBackMotor;
+    private DcMotor rightBackMotor;
+    private DcMotor Arm;
+    double reference;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        leftFrontMotor = hardwareMap.get(DcMotor.class, "front_left");
+        rightFrontMotor = hardwareMap.get(DcMotor.class, "front_right");
+        leftBackMotor = hardwareMap.get(DcMotor.class, "back_left");
+        rightBackMotor = hardwareMap.get(DcMotor.class, "back_right");
+        Arm = hardwareMap.get(DcMotor.class, "arm");
+        double encoderPosition;
+        waitForStart();
+        double error;
+        error = 1.1;
+        double power = 0;
+
+
+        reference = 300;
+        Arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        Arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        while (opModeIsActive()) {
+
+            while (gamepad1.b) {
+
+
+                // obtain the encoder position
+                encoderPosition = Arm.getCurrentPosition();
+                // calculate the error
+                error = reference - encoderPosition;
+                power = (error/250)*.7;
+                if(power>0.7){
+                    power = 0.7;
+                }
+                else if(power<-0.7){
+                    power = -0.7;
+                }
+
+               Arm.setPower(power);
+
+                telemetry.addData("arm", encoderPosition);
+                telemetry.addData("error", error);
+                telemetry.addData("stick", gamepad2.left_stick_y);
+                telemetry.addData("power", power);
+                telemetry.update();
+
+
+            }
+            Arm.setPower(0);
+            leftFrontMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            leftBackMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx = gamepad1.right_stick_x;
+
+            leftFrontMotor.setPower(y + x + rx);
+            leftBackMotor.setPower(y - x + rx);
+            rightFrontMotor.setPower(y - x - rx);
+            rightBackMotor.setPower(y + x - rx);
+
+//oops i didn't push right :P
+        }
+    }
+}
+
+
+//3 hours for 1 bracket... always remember to click code->reformat code
+
+
+
+
+
+
+
+
+