01/25/2022 Copies of autonomous for Shirley were made and adjusted fo…

…r use at League Meet FIRST-Tech-Challenge#3 at Mojave High School

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Blue_Storage_Mojave.java

@@ -0,0 +1,132 @@
+package org.firstinspires.ftc.teamcode.mojave;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@Autonomous(name = "Shirley Blue Storage Unit Mojave")
+@SuppressWarnings({"unused"})
+public class AUTO_Shirley_Blue_Storage_Mojave extends LinearOpMode
+{
+    private DcMotor frontDrive, backDrive, raiseClaw;
+    private Servo rotateClaw, claw;
+    private CRServo carousel;
+    private ElapsedTime runtime = new ElapsedTime();
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        frontDrive = hardwareMap.get(DcMotor.class, "frontDrive");
+        backDrive = hardwareMap.get(DcMotor.class, "backDrive");
+        raiseClaw = hardwareMap.get(DcMotor.class, "raiseClaw");
+        rotateClaw = hardwareMap.get(Servo.class, "rotateClaw");
+        claw = hardwareMap.get(Servo.class, "claw");
+        carousel = hardwareMap.get(CRServo.class, "carousel");
+
+        frontDrive.setDirection(DcMotor.Direction.REVERSE);
+        backDrive.setDirection(DcMotor.Direction.FORWARD);
+        raiseClaw.setDirection(DcMotor.Direction.FORWARD);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        //initialize claw
+        rotateClaw.setPosition(0.75);
+        claw.setPosition(1.0);
+
+        waitForStart();
+
+        //move awy from wall
+        frontDrive.setPower(0.5);
+        backDrive.setPower(0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.2)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        while(opModeIsActive() && runtime.seconds() < 0.5) telemetry.update();//pause
+
+        //turn towards storage unit
+        frontDrive.setPower(0.5);
+        backDrive.setPower(-0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.2)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //line up with wall
+        frontDrive.setPower(1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.8)//previously 1.7, 1.4
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        while(opModeIsActive() && runtime.seconds() < 0.25) telemetry.update();
+
+        //angle to line up with carousel
+        frontDrive.setPower(-0.25);//prev -0.5
+        backDrive.setPower(0.25);//prev 0.5
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.7)//previously 0.95
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //drive back to meet carousel
+        frontDrive.setPower(-0.5);
+        backDrive.setPower(-0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 2.6)//previously 2.6, 2.8
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //spin the carousel
+        frontDrive.setPower(-0.1);
+        //backDrive.setPower(-0.1);
+        carousel.setPower(-1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 10.00)
+        {
+            telemetry.update();
+        }
+        carousel.setPower(0.0);
+        frontDrive.setPower(0.0);
+        //backDrive.setPower(0.0);
+
+        //drive "completely in" to storage unit
+        frontDrive.setPower(1.0);
+        backDrive.setPower(0.4);//prev 0.5
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.75)//previously 0.6
+        {
+            telemetry.update();
+        }
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.4)//previously 0.5
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Blue_Warehouse_Mojave.java

@@ -0,0 +1,58 @@
+package org.firstinspires.ftc.teamcode.mojave;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@Autonomous(name = "Shirley Blue Warehouse Mojave")
+@SuppressWarnings({"unused"})
+public class AUTO_Shirley_Blue_Warehouse_Mojave extends LinearOpMode
+{
+    private DcMotor frontDrive, backDrive;
+    private Servo rotateClaw, claw;
+    private CRServo carousel;
+    private ElapsedTime runtime = new ElapsedTime();
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        frontDrive = hardwareMap.get(DcMotor.class, "frontDrive");
+        backDrive = hardwareMap.get(DcMotor.class, "backDrive");
+        rotateClaw = hardwareMap.get(Servo.class, "rotateClaw");
+        carousel = hardwareMap.get(CRServo.class, "carousel");
+        claw = hardwareMap.get(Servo.class, "claw");
+
+        frontDrive.setDirection(DcMotor.Direction.REVERSE);
+        backDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+
+        //turn towards warehouse
+        frontDrive.setPower(-1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.5)//prev 0.4
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //drive "completely in" to storage unit
+        frontDrive.setPower(1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 1.6)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Red_Storage_Mojave.java

@@ -0,0 +1,124 @@
+package org.firstinspires.ftc.teamcode.mojave;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@Autonomous(name = "Shirley Red Storage Unit Mojave")
+@SuppressWarnings({"unused"})
+public class AUTO_Shirley_Red_Storage_Mojave extends LinearOpMode
+{
+    private DcMotor frontDrive, backDrive, raiseClaw;
+    private Servo rotateClaw, claw;
+    private CRServo carousel;
+    private ElapsedTime runtime = new ElapsedTime();
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        frontDrive = hardwareMap.get(DcMotor.class, "frontDrive");
+        backDrive = hardwareMap.get(DcMotor.class, "backDrive");
+        raiseClaw = hardwareMap.get(DcMotor.class, "raiseClaw");
+        rotateClaw = hardwareMap.get(Servo.class, "rotateClaw");
+        claw = hardwareMap.get(Servo.class, "claw");
+        carousel = hardwareMap.get(CRServo.class, "carousel");
+
+        frontDrive.setDirection(DcMotor.Direction.REVERSE);
+        backDrive.setDirection(DcMotor.Direction.FORWARD);
+        raiseClaw.setDirection(DcMotor.Direction.FORWARD);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        //initialize claw
+        rotateClaw.setPosition(0.75);
+        claw.setPosition(1.0);
+
+        waitForStart();
+
+        //move awy from wall
+        frontDrive.setPower(0.5);
+        backDrive.setPower(0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.2)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        while(opModeIsActive() && runtime.seconds() < 0.5) telemetry.update();//pause
+
+        //turn towards storage unit
+        frontDrive.setPower(-0.5);
+        backDrive.setPower(0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.2)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //line up with wall
+        frontDrive.setPower(1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 1.7)//previously 1.6,1.65
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //angle to line up with carousel
+        frontDrive.setPower(0.5);
+        backDrive.setPower(-0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.7)//previously 0.55,0.6
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //drive back to meet carousel
+        frontDrive.setPower(-0.5);
+        backDrive.setPower(-0.5);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 2.6)//previously 1.3,1.7,2.0,2.3
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //spin the carousel
+        //frontDrive.setPower(-0.1);
+        backDrive.setPower(-0.1);
+        carousel.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 10.00)
+        {
+            telemetry.update();
+        }
+        carousel.setPower(0.0);
+        //frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //drive "completely in" to storage unit
+        frontDrive.setPower(1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.75)//previously 0.6
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Red_Warehouse_Mojave.java

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.mojave;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@Autonomous(name = "Shirley Red Warehouse Mojave")
+@SuppressWarnings({"unused"})
+public class AUTO_Shirley_Red_Warehouse_Mojave extends LinearOpMode
+{
+    private DcMotor frontDrive, backDrive;
+    private Servo rotateClaw, claw;
+    private CRServo carousel;
+    private ElapsedTime runtime = new ElapsedTime();
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        frontDrive = hardwareMap.get(DcMotor.class, "frontDrive");
+        backDrive = hardwareMap.get(DcMotor.class, "backDrive");
+        rotateClaw = hardwareMap.get(Servo.class, "rotateClaw");
+        claw = hardwareMap.get(Servo.class, "claw");
+        carousel = hardwareMap.get(CRServo.class, "carousel");
+
+        frontDrive.setDirection(DcMotor.Direction.REVERSE);
+        backDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        //initialize claw
+        rotateClaw.setPosition(0.75);
+        claw.setPosition(1.0);
+
+        waitForStart();
+
+        //turn towards warehouse
+        frontDrive.setPower(1.0);
+        backDrive.setPower(-1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 0.4)//0.35
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+
+        //drive "completely in" to storage unit
+        frontDrive.setPower(1.0);
+        backDrive.setPower(1.0);
+        runtime.reset();
+        while(opModeIsActive() && runtime.seconds() < 1.6)
+        {
+            telemetry.update();
+        }
+        frontDrive.setPower(0.0);
+        backDrive.setPower(0.0);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/AUTO_Shirley_Blue1.java

@@ -7,7 +7,7 @@
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
-
+@Disabled
 @Autonomous(name = "Shirley Blue Storage Unit BASE")
 @SuppressWarnings({"unused"})
 public class AUTO_Shirley_Blue1 extends LinearOpMode