From 70ac99c5b3cf52236beae044a573fa1c396c614c Mon Sep 17 00:00:00 2001
From: robotics2 <robotics2@scds.org>
Date: Thu, 28 Sep 2023 17:10:30 -0700
Subject: [PATCH] have directional functions set for each direction

---
 .../RobotAutoDriveByEncoder_Linear.java       | 56 +++++++++++++++++--
 1 file changed, 52 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
index 354b006..599800b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
@@ -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.