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have directional functions set for each direction

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robotics2
2023-09-28 17:10:30 -07:00
parent c3da4e525d
commit 70ac99c5b3
1 changed files with 52 additions and 4 deletions
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56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
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@ -90,7 +90,8 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
static final double DRIVE_SPEED = 0.2;
static final double TURN_SPEED = 0.4;
@Override
static final double LONG_TIMEOUT = 1000;
static final double DEGREE_TOO_DISTANCE = 0.21944444444; @Override
public void runOpMode() {
// Initialize the drive system variables.
@ -130,15 +131,62 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
// Step through each leg of the path,
// Note: Reverse movement is obtained by setting a negative distance (not speed)
encoderDrive(DRIVE_SPEED, 48, 48, 5.0); // S1: Forward 47 Inches with 5 Sec timeout
//encoderDrive(TURN_SPEED, 12, -12, 4.0); // S2: Turn Right 12 Inches with 4 Sec timeout
//encoderDrive(DRIVE_SPEED, -24, -24, 4.0); // S3: Reverse 24 Inches with 4 Sec timeout
//driveForward(2);
//straightLeft(93);
turnRight(90);
//Values were created from robot with wheel issues 9/28/23
telemetry.addData("Path", "Complete");
telemetry.update();
sleep(1000); // pause to display final telemetry message.
}
public void driveForward(double distance)
{
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.REVERSE);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT); // S1: Forward 47 Inches with 5 Sec timeout
}
public void straightLeft(double distance)
{
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.FORWARD);
backleftDrive.setDirection(DcMotor.Direction.REVERSE);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT);
}
public void straightRight(double distance)
{
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
backrightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.FORWARD);
encoderDrive(DRIVE_SPEED, distance, distance, LONG_TIMEOUT);
}
public void turnLeft(double degrees)
{
leftDrive.setDirection(DcMotor.Direction.FORWARD);
rightDrive.setDirection(DcMotor.Direction.FORWARD);
backrightDrive.setDirection(DcMotor.Direction.REVERSE);
backleftDrive.setDirection(DcMotor.Direction.FORWARD);
double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
}
public void turnRight(double degrees)
{
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
backrightDrive.setDirection(DcMotor.Direction.FORWARD);
backleftDrive.setDirection(DcMotor.Direction.REVERSE);
double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
}
/*
* Method to perform a relative move, based on encoder counts.
* Encoders are not reset as the move is based on the current position.