package org.firstinspires.ftc.teamcode.solutions;

import com.qualcomm.robotcore.hardware.AnalogInput;

import com.qualcomm.robotcore.hardware.DcMotor;

import com.qualcomm.robotcore.hardware.DigitalChannel;

import com.qualcomm.robotcore.hardware.HardwareMap;

import com.qualcomm.robotcore.hardware.Servo;

import com.qualcomm.robotcore.util.Range;

public class ProgrammingBoard_9_1 {

private DigitalChannel touchSensor;

private DcMotor motor;

private double ticksPerRotation;

private Servo servo;

private AnalogInput pot;

public void init(HardwareMap hwMap) {

touchSensor = hwMap.get(DigitalChannel.class, "touch_sensor");

touchSensor.setMode(DigitalChannel.Mode.INPUT);

motor = hwMap.get(DcMotor.class, "motor");

motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

ticksPerRotation = motor.getMotorType().getTicksPerRev();

servo = hwMap.get(Servo.class, "servo");

pot = hwMap.get(AnalogInput.class, "pot");

}

public boolean isTouchSensorPressed() {

return !touchSensor.getState();

}

public void setMotorSpeed(double speed) {

motor.setPower(speed);

}

public double getMotorRotations() {

return motor.getCurrentPosition() / ticksPerRotation;

}

public void setServoPosition(double position) {

servo.setPosition(position);

}

public double getPotAngle() {

return Range.scale(pot.getVoltage(), 0, pot.getMaxVoltage(), 0, 270);

}

public double getPotRange() {

return Range.scale(pot.getVoltage(), 0, pot.getMaxVoltage(), 0, 1.0);

}

}