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Fix camel casing

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This commit is contained in:
Carlos
2023-11-09 23:20:23 -08:00
parent 7c1a0923e2
commit 58f738e28d
1 changed files with 40 additions and 40 deletions
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80
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
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@ -70,8 +70,8 @@ public class Autonomoustest extends LinearOpMode {
/* Declare OpMode members. */ /* Declare OpMode members. */
private DcMotor leftDrive = null; private DcMotor leftDrive = null;
private DcMotor rightDrive = null; private DcMotor rightDrive = null;
private DcMotor backrightDrive = null; private DcMotor backRightDrive = null;
private DcMotor backleftDrive = null; private DcMotor backLeftDrive = null;
private ColorSensor colorRight = null; private ColorSensor colorRight = null;
private ColorSensor colorLeft = null; private ColorSensor colorLeft = null;
private Servo wrist = null; private Servo wrist = null;
@ -112,8 +112,8 @@ public class Autonomoustest extends LinearOpMode {
/* telemetry.addData("Starting at", "%7d :%7d", /* telemetry.addData("Starting at", "%7d :%7d",
leftDrive.getCurrentPosition(), leftDrive.getCurrentPosition(),
rightDrive.getCurrentPosition(), rightDrive.getCurrentPosition(),
backleftDrive.getCurrentPosition(), backLeftDrive.getCurrentPosition(),
backrightDrive.getCurrentPosition());*/ backRightDrive.getCurrentPosition());*/
telemetry.update(); telemetry.update();
@ -137,8 +137,8 @@ public class Autonomoustest extends LinearOpMode {
{ {
leftDrive.setDirection(DcMotor.Direction.REVERSE); leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.REVERSE); backRightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.REVERSE); backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); // S1: Forward 47 Inches with 5 Sec timeout encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); // S1: Forward 47 Inches with 5 Sec timeout
} }
@ -146,8 +146,8 @@ public class Autonomoustest extends LinearOpMode {
{ {
leftDrive.setDirection(DcMotor.Direction.FORWARD); leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.FORWARD); backRightDrive.setDirection(DcMotor.Direction.FORWARD);
backleftDrive.setDirection(DcMotor.Direction.REVERSE); backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT);
} }
@ -155,8 +155,8 @@ public class Autonomoustest extends LinearOpMode {
{ {
leftDrive.setDirection(DcMotor.Direction.REVERSE); leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.REVERSE);
backrightDrive.setDirection(DcMotor.Direction.REVERSE); backRightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.FORWARD); backLeftDrive.setDirection(DcMotor.Direction.FORWARD);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT);
} }
@ -164,8 +164,8 @@ public class Autonomoustest extends LinearOpMode {
{ {
leftDrive.setDirection(DcMotor.Direction.FORWARD); leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.REVERSE); backRightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.FORWARD); backLeftDrive.setDirection(DcMotor.Direction.FORWARD);
double turning_distance = degrees * DEGREE_TOO_DISTANCE; double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
} }
@ -173,8 +173,8 @@ public class Autonomoustest extends LinearOpMode {
public void turnRight(double degrees) { public void turnRight(double degrees) {
leftDrive.setDirection(DcMotor.Direction.REVERSE); leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.REVERSE); rightDrive.setDirection(DcMotor.Direction.REVERSE);
backrightDrive.setDirection(DcMotor.Direction.FORWARD); backRightDrive.setDirection(DcMotor.Direction.FORWARD);
backleftDrive.setDirection(DcMotor.Direction.REVERSE); backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
double turning_distance = degrees * DEGREE_TOO_DISTANCE; double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
} }
@ -209,8 +209,8 @@ public class Autonomoustest extends LinearOpMode {
{ {
leftDrive = hardwareMap.get(DcMotor.class, "Drive front lt"); leftDrive = hardwareMap.get(DcMotor.class, "Drive front lt");
rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt"); rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt");
backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt"); backLeftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt"); backRightDrive = hardwareMap.get(DcMotor.class, "Drive back rt");
colorRight = hardwareMap.get(ColorSensor.class, "color right"); colorRight = hardwareMap.get(ColorSensor.class, "color right");
colorLeft = hardwareMap.get(ColorSensor.class, "color left"); colorLeft = hardwareMap.get(ColorSensor.class, "color left");
gripper = hardwareMap.get(Servo.class, "gripper"); gripper = hardwareMap.get(Servo.class, "gripper");
@ -223,21 +223,21 @@ public class Autonomoustest extends LinearOpMode {
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips // Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
leftDrive.setDirection(DcMotor.Direction.REVERSE); leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD); rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.REVERSE); backRightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.REVERSE); backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
arm.setDirection(DcMotor.Direction.REVERSE); arm.setDirection(DcMotor.Direction.REVERSE);
leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
backleftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
backrightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backrightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER); arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
} }
public void testWrist() public void testWrist()
@ -370,25 +370,25 @@ public class Autonomoustest extends LinearOpMode {
// Determine new target position, and pass to motor controller // Determine new target position, and pass to motor controller
newLeftTarget = leftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH); newLeftTarget = leftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newRightTarget = rightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); newRightTarget = rightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
newBackLeftTarget = backleftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH); newBackLeftTarget = backLeftDrive.getCurrentPosition() + (int) (leftInches * COUNTS_PER_INCH);
newBackRightTarget = backrightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH); newBackRightTarget = backRightDrive.getCurrentPosition() + (int) (rightInches * COUNTS_PER_INCH);
leftDrive.setTargetPosition(newLeftTarget); leftDrive.setTargetPosition(newLeftTarget);
rightDrive.setTargetPosition(newRightTarget); rightDrive.setTargetPosition(newRightTarget);
backrightDrive.setTargetPosition(newBackRightTarget); backRightDrive.setTargetPosition(newBackRightTarget);
backleftDrive.setTargetPosition(newBackLeftTarget); backLeftDrive.setTargetPosition(newBackLeftTarget);
// Turn On RUN_TO_POSITION // Turn On RUN_TO_POSITION
leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
backrightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); backRightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
backleftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION); backLeftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// reset the timeout time and start motion. // reset the timeout time and start motion.
runtime.reset(); runtime.reset();
leftDrive.setPower(Math.abs(speed)); leftDrive.setPower(Math.abs(speed));
rightDrive.setPower(Math.abs(speed)); rightDrive.setPower(Math.abs(speed));
backrightDrive.setPower(Math.abs(speed)); backRightDrive.setPower(Math.abs(speed));
backleftDrive.setPower(Math.abs(speed)); backLeftDrive.setPower(Math.abs(speed));
// keep looping while we are still active, and there is time left, and both motors are running. // keep looping while we are still active, and there is time left, and both motors are running.
// Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
@ -398,27 +398,27 @@ public class Autonomoustest extends LinearOpMode {
// onto the next step, use (isBusy() || isBusy()) in the loop test. // onto the next step, use (isBusy() || isBusy()) in the loop test.
while (opModeIsActive() && while (opModeIsActive() &&
(runtime.seconds() < timeoutS) && (runtime.seconds() < timeoutS) &&
(leftDrive.isBusy() && rightDrive.isBusy() && backleftDrive.isBusy() && backrightDrive.isBusy())) { (leftDrive.isBusy() && rightDrive.isBusy() && backLeftDrive.isBusy() && backRightDrive.isBusy())) {
// Display it for the driver. // Display it for the driver.
telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget); telemetry.addData("Running to", " %7d :%7d", newLeftTarget, newRightTarget);
telemetry.addData("Currently at", " at %7d :%7d", telemetry.addData("Currently at", " at %7d :%7d",
leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition(), backrightDrive.getCurrentPosition(), backleftDrive.getCurrentPosition()); leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition(), backRightDrive.getCurrentPosition(), backLeftDrive.getCurrentPosition());
telemetry.update(); telemetry.update();
} }
leftDrive.setPower(0); leftDrive.setPower(0);
rightDrive.setPower(0); rightDrive.setPower(0);
backrightDrive.setPower(0); backRightDrive.setPower(0);
backleftDrive.setPower(0); backLeftDrive.setPower(0);
// Turn off RUN_TO_POSITION // Turn off RUN_TO_POSITION
leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backleftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backrightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
sleep(250); // optional pause after each move. sleep(250); // optional pause after each move.
} }
@ -426,14 +426,14 @@ public class Autonomoustest extends LinearOpMode {
public void armEncoder(double speed, public void armEncoder(double speed,
double Inches, double timeoutS) { double Inches, double timeoutS) {
int newarmTarget; int newArmTarget;
if (opModeIsActive()) { if (opModeIsActive()) {
// Determine new target position, and pass to motor controller // Determine new target position, and pass to motor controller
newarmTarget = arm.getCurrentPosition() + (int) (Inches * COUNTS_PER_ARM_INCH); newArmTarget = arm.getCurrentPosition() + (int) (Inches * COUNTS_PER_ARM_INCH);
arm.setTargetPosition(newarmTarget); arm.setTargetPosition(newArmTarget);
// Turn On RUN_TO_POSITION // Turn On RUN_TO_POSITION
arm.setMode(DcMotor.RunMode.RUN_TO_POSITION); arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
@ -453,7 +453,7 @@ public class Autonomoustest extends LinearOpMode {
(arm.isBusy())) { (arm.isBusy())) {
// Display it for the driver. // Display it for the driver.
telemetry.addData("Running to", " %7d", newarmTarget); telemetry.addData("Running to", " %7d", newArmTarget);
telemetry.addData("Currently at", " at %7d", telemetry.addData("Currently at", " at %7d",
arm.getCurrentPosition()); arm.getCurrentPosition());
telemetry.update(); telemetry.update();