Program Errors in Teleop Program-Adding Servos

[thensley]

We have come up with this program after attempting to add three servos to the teleop mode:

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;

/**
* This file contains an example of an iterative (Non-Linear) "OpMode".
* An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
* The names of OpModes appear on the menu of the FTC Driver Station.
* When an selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all iterative OpModes contain.
*
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/

@TeleOp(name="Tom", group="Iterative Opmode")

public class Tom extends OpMode
{
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftDrive = null;
private DcMotor rightDrive = null;
private Servo top_hand = null;
private Servo lowerArm = null;
private Servo upperArm = null;
private Servo leftHand = null;




private double handOffset = 0.0 ; // Servo mid position
private final double CLAW_SPEED = 0.01 ; // sets rate to move serv
private final double HAND_SPEED = 0.01 ; // sets rate to move serv
private double upper;
private double lower;
/*
* Code to run ONCE when the driver hits INIT
*/
@Override
public void init() {
telemetry.addData("Status", "Initialized");

// Initialize the hardware variables. Note that the strings used here as parameters
// to 'get' must correspond to the names assigned during the robot configuration
// step (using the FTC Robot Controller app on the phone).
leftDrive = hardwareMap.get(DcMotor.class, "left_drive");
rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
top_hand = hardwareMap.get(Servo.class, "top_hand");
leftHand = hardwareMap.get(Servo.class, "leftHand");
upperArm = hardwareMap.get(Servo.class, "upperArm");
lowerArm = hardwareMap.get(Servo.class, "lowerArm");


// Most robots need the motor on one side to be reversed to drive forward
// Reverse the motor that runs backwards when connected directly to the battery
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD) ;

// Tell the driver that initialization is complete.
telemetry.addData("Status", "Initialized");

}

/*
* Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
*/
@Override
public void init_loop() {
}

/*
* Code to run ONCE when the driver hits PLAY
*/
@Override
public void start() {
runtime.reset();
}

/*
* Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
*/
@Override
public void loop() {
// Setup a variable for each drive wheel to save power level for telemetry
double leftPower;
double rightPower;

// Choose to drive using either Tank Mode, or POV Mode
// Comment out the method that's not used. The default below is POV.

// POV Mode uses left stick to go forward, and right stick to turn.
// - This uses basic math to combine motions and is easier to drive straight.
//double drive = -gamepad1.left_stick_y;
//double turn = gamepad1.right_stick_x;
//leftPower = Range.clip(drive + turn, -1.0, 1.0) ;
//rightPower = Range.clip(drive - turn, -1.0, 1.0) ;


if (gamepad1.right_bumper) {
handOffset += CLAW_SPEED;
}
else if (gamepad1.left_bumper)
handOffset -= CLAW_SPEED;


//Press front bumpers to move hand and pick up score elements
if (gamepad2.right_bumper) {
handOffset += HAND_SPEED;
}
else if (gamepad2.left_bumper)
handOffset -= HAND_SPEED;


// Tank Mode uses one stick to control each wheel.
// - This requires no math, but it is hard to drive forward slowly and keep straight.
rightPower = -gamepad1.left_stick_y ;
leftPower = -gamepad1.right_stick_y ;

// Send calculated power to arm
leftDrive.setPower(leftPower);
rightDrive.setPower(rightPower);

upper = gamepad2.left_stick_y*.5 ;
lower = gamepad2.right_stick_y*.5 ;

upperArm.setPower(upper);
lowerArm.setPower(lower);


// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);

}

/*
* Code to run ONCE after the driver hits STOP
*/
@Override
public void stop() {
}

}


The following errors show up and we do not know how to fix them:


Build started at Fri Sep 28 2018 08:37:22 GMT-0700 (Pacific Daylight Time)
org/firstinspires/ftc/teamcode/Tom.java line 166, column 18: ERROR: cannot find symbol
symbol: method setPower(double)
location: variable upperArm of type com.qualcomm.robotcore.hardware.Servo
org/firstinspires/ftc/teamcode/Tom.java line 167, column 18: ERROR: cannot find symbol
symbol: method setPower(double)
location: variable lowerArm of type com.qualcomm.robotcore.hardware.Servo
org/firstinspires/ftc/teamcode/HardwarePushbot.java line 105, column 29: ERROR: incompatible types: com.qualcomm.robotcore.hardware.Servo cannot be converted to com.qualcomm.robotcore.hardware.DcMotor
org/firstinspires/ftc/teamcode/HardwarePushbot.java line 106, column 17: ERROR: cannot find symbol
symbol: method setPosition(double)
location: variable upperArm of type com.qualcomm.robotcore.hardware.DcMotor
org/firstinspires/ftc/teamcode/HardwarePushbot.java line 107, column 29: ERROR: incompatible types: com.qualcomm.robotcore.hardware.Servo cannot be converted to com.qualcomm.robotcore.hardware.DcMotor
org/firstinspires/ftc/teamcode/HardwarePushbot.java line 108, column 17: ERROR: cannot find symbol
symbol: method setPosition(double)
location: variable lowerArm of type com.qualcomm.robotcore.hardware.DcMotor


Build finished in 1.2 seconds
Build FAILED!

-Any help would be greatly appreciated!

[mlwilliams]

setPower only applies to motors, not servos. With a servo you can only set the position by passing it a number between 0.0 and 1.0. For example:

 
 upperArm.setPosition(0.5);

would move the upperArm servo to its halfway point.

[thensley]

mlwilliams Thank you!