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auto blue, and red front have been made not tested but values switched

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robotics2
2023-11-03 19:54:05 -07:00
parent 6f5e08e0cd
commit 2b638e1953
2 changed files with 55 additions and 49 deletions
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48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
View File

@ -93,7 +93,7 @@ public class Autonomoustest extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI);
static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
static final double DRIVE_SPEED = 0.2;
static final double DRIVE_SPEED = 0.3;
static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000;
@ -105,6 +105,8 @@ public class Autonomoustest extends LinearOpMode {
public void runOpMode()
{
hardwareinit();
gripper.setPosition(1);
sleep(1000);
// Send telemetry message to indicate successful Encoder reset
/* telemetry.addData("Starting at", "%7d :%7d",
@ -251,13 +253,11 @@ public class Autonomoustest extends LinearOpMode {
public void executeAuto()
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
gripper.setPosition(1);
sleep(1000);
driveForward(28);
driveForward(26);
int blueleft = readColorLeft();
int blueright = readColorRight();
double backboard = 29;
if (blueleft > 75)
if (blueleft > 50 )
{
//telemetry.addData("color sensor","left");
if(blueleft > blueright)
@ -271,44 +271,45 @@ public class Autonomoustest extends LinearOpMode {
straightLeft(32);
turnLeft(10);
driveForward(18);
driveForward(-31);
straightRight(31.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-1);
gripper.setPosition(0.25);
driveForward(-40);
// straightRight(31.5);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// driveForward(-1);
// gripper.setPosition(0.25);
terminateOpModeNow();
}
if (blueright > 175)
if (blueright > 50)
{
if(blueleft < blueright)
telemetry.addData("color sensor","right");
straightRight(11);
raisearm(80);
arm.setPower(0);
driveForward(-13.5);
driveForward(-15.5);
turnLeft(90);
straightLeft(15);
driveForward(8);
driveForward(-26);
straightRight(22.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-5);
gripper.setPosition(.25);
driveForward(-38);
// straightRight(14.5);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// gripper.setPosition(.25);
// driveForward(5);
// raisearm(-200);
terminateOpModeNow();
}
else
telemetry.addData("position","center");
driveForward(4);
driveForward(2.5);
raisearm(80);
arm.setPower(0);
driveForward(-8);
@ -323,6 +324,9 @@ public class Autonomoustest extends LinearOpMode {
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(.25);
sleep(500);
driveForward(5);
raisearm(-270);
telemetry.update();
sleep(250);

56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
View File

@ -93,7 +93,7 @@ public class bluefront extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI);
static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
static final double DRIVE_SPEED = 0.2;
static final double DRIVE_SPEED = 0.3;
static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000;
@ -253,7 +253,7 @@ public class bluefront extends LinearOpMode {
public void executeAuto()
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(28);
driveForward(26);
int blueleft = readColorLeft();
int blueright = readColorRight();
double backboard = 29;
@ -263,20 +263,20 @@ public class bluefront extends LinearOpMode {
if(blueleft > blueright)
telemetry.addData("color sensor","left");
straightLeft(8);
raisearm(30);
straightLeft(11);
raisearm(80);
arm.setPower(0);
driveForward(-13.5);
driveForward(-15.5);
turnRight(90);
straightRight(15);
driveForward(8);
driveForward(-26);
straightLeft(22.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-5);
gripper.setPosition(.25);
driveForward(-38);
// straightLeft(22.5);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// driveForward(-5);
// gripper.setPosition(.25);
terminateOpModeNow();
@ -289,31 +289,32 @@ public class bluefront extends LinearOpMode {
telemetry.addData("color sensor","right");
turnRight(90);
straightLeft(2);
raisearm(30);
driveForward(6.5);
raisearm(80);
arm.setPower(0);
driveForward(-15);
driveForward(-23);
straightRight(32);
turnRight(10);
driveForward(18);
driveForward(-31);
straightLeft(34);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-1);
gripper.setPosition(0.25);
terminateOpModeNow();
driveForward(-40);
// straightLeft(34);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// driveForward(-1);
// gripper.setPosition(0.25);
// terminateOpModeNow();
}
else
telemetry.addData("position","center");
driveForward(11);
raisearm(30);
driveForward(2.5);
raisearm(80);
arm.setPower(0);
driveForward(-6);
driveForward(-8);
straightLeft(11.5);
driveForward(-17);
driveForward(-15);
turnRight(90);
straightRight(15);
driveForward(8);
@ -322,8 +323,9 @@ public class bluefront extends LinearOpMode {
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-5);
gripper.setPosition(.25);
sleep(500);
driveForward(5);
telemetry.update();
sleep(250);