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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton_blue
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| package org.firstinspires.ftc.teamcode; | ||
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| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.hardware.DcMotorController; | ||
| import com.qualcomm.robotcore.hardware.DcMotorSimple; | ||
| import com.qualcomm.robotcore.hardware.Servo; | ||
| import com.qualcomm.robotcore.util.ElapsedTime; | ||
| import com.qualcomm.robotcore.util.Range; | ||
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| //version 1 of team taro's autonomous code. | ||
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| @Autonomous(name="auton_blue", group="Linear OpMode") | ||
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| public class auton_blue extends LinearOpMode{ | ||
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| private ElapsedTime runtime = new ElapsedTime(); | ||
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| private DcMotor fldrive, frdrive, bldrive, brdrive, carousel; | ||
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| public void runOpMode() throws InterruptedException { | ||
| telemetry.addData("Status", "Intialized"); | ||
| telemetry.update(); | ||
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| fldrive = hardwareMap.get(DcMotor.class, "fldrive"); | ||
| frdrive = hardwareMap.get(DcMotor.class, "frdrive"); | ||
| brdrive = hardwareMap.get(DcMotor.class, "brdrive"); | ||
| bldrive = hardwareMap.get(DcMotor.class, "bldrive"); | ||
| carousel = hardwareMap.get(DcMotor.class, "carousel"); | ||
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| fldrive.setDirection(DcMotor.Direction.FORWARD); | ||
| frdrive.setDirection(DcMotor.Direction.REVERSE); | ||
| brdrive.setDirection(DcMotor.Direction.REVERSE); | ||
| bldrive.setDirection(DcMotor.Direction.FORWARD); | ||
| carousel.setDirection(DcMotor.Direction.REVERSE); | ||
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| waitForStart(); | ||
| runtime.reset(); | ||
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| //write code here using functions | ||
| //forward(0.1, 2000); | ||
| //straferight(1, 3000); | ||
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| straferighttime(0.5, 300); | ||
| righttime(0.1, 200); | ||
| carousel(0.5, 2000); | ||
| forwardtime(0.3, 4000); | ||
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| } | ||
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| public void carousel(double power, long time) throws InterruptedException | ||
| { | ||
| carousel.setPower(power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void forwardtime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void backwardtime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(-power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(-power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void lefttime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(-power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(-power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void righttime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void strafelefttime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(-power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void straferighttime(double power, long time) throws InterruptedException | ||
| { | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(-power); | ||
| Thread.sleep(time); | ||
| } | ||
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| public void forward(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(distance); | ||
| frdrive.setTargetPosition(distance); | ||
| bldrive.setTargetPosition(distance); | ||
| brdrive.setTargetPosition(distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
| } | ||
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| public void backward(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(-distance); | ||
| frdrive.setTargetPosition(-distance); | ||
| bldrive.setTargetPosition(-distance); | ||
| brdrive.setTargetPosition(-distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(-power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(-power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(-power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(-power); | ||
| } | ||
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| public void left(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(-distance); | ||
| frdrive.setTargetPosition(distance); | ||
| bldrive.setTargetPosition(distance); | ||
| brdrive.setTargetPosition(-distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(-power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(-power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
| } | ||
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| public void right(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(distance); | ||
| frdrive.setTargetPosition(-distance); | ||
| bldrive.setTargetPosition(-distance); | ||
| brdrive.setTargetPosition(distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(-power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(-power); | ||
| } | ||
| public void strafeleft(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(-distance); | ||
| frdrive.setTargetPosition(distance); | ||
| bldrive.setTargetPosition(-distance); | ||
| brdrive.setTargetPosition(distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(-power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(-power); | ||
| bldrive.setPower(power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
| } | ||
| public void straferight(double power, int distance) { | ||
| fldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| frdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| bldrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
| brdrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); | ||
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| fldrive.setTargetPosition(distance); | ||
| frdrive.setTargetPosition(-distance); | ||
| bldrive.setTargetPosition(distance); | ||
| brdrive.setTargetPosition(-distance); | ||
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| fldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| frdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| bldrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
| brdrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); | ||
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| fldrive.setPower(power); | ||
| frdrive.setPower(-power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(-power); | ||
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| while (fldrive.isBusy() && frdrive.isBusy() && bldrive.isBusy() && brdrive.isBusy()) { | ||
| //until point reached | ||
| } | ||
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| power = 0.0; | ||
| fldrive.setPower(power); | ||
| frdrive.setPower(power); | ||
| brdrive.setPower(power); | ||
| bldrive.setPower(power); | ||
| } | ||
| } |