Add Roadrunner

TeamCode/drive/opmode/StraightTest.java

@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is a simple routine to test translational drive capabilities.
+ */
+@Config
+@Autonomous(group = "drive")
+public class StraightTest extends LinearOpMode {
+    public static double DISTANCE = 60; // in
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        Trajectory trajectory = drive.trajectoryBuilder(new Pose2d())
+                .forward(DISTANCE)
+                .build();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive.followTrajectory(trajectory);
+
+        Pose2d poseEstimate = drive.getPoseEstimate();
+        telemetry.addData("finalX", poseEstimate.getX());
+        telemetry.addData("finalY", poseEstimate.getY());
+        telemetry.addData("finalHeading", poseEstimate.getHeading());
+        telemetry.update();
+
+        while (!isStopRequested() && opModeIsActive()) ;
+    }
+}