SCDS/FtcRobotController
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robotics2
2024-01-18 17:21:45 -08:00
parent d025c7b106
commit 7d28e8bd60
2 changed files with 23 additions and 9 deletions
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26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
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@ -232,6 +232,7 @@ public class BlueBackStage extends LinearOpMode {
gripper.setPosition(1); gripper.setPosition(1);
sleep(3000); sleep(3000);
} }
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@ -255,9 +256,14 @@ public class BlueBackStage extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.3); gripper.setPosition(1);
sleep(500); sleep(500);
driveForward(6); driveForward(6);
raisearm(-50);
wrist.setPosition(1);
raisearm(-70);
straightLeft(29);
driveForward(-10);
terminateOpModeNow(); terminateOpModeNow();
@ -269,17 +275,21 @@ public class BlueBackStage extends LinearOpMode {
telemetry.addData("position","right"); telemetry.addData("position","right");
telemetry.update(); telemetry.update();
turnRight(88); turnRight(88);
straightLeft(2);
driveForward(5.25); driveForward(5.25);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-38); driveForward(-38);
straightLeft(5.5); straightLeft(7.5);
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.45); gripper.setPosition(1);
driveForward(7.5); driveForward(7.5);
raisearm(-50);
wrist.setPosition(1);
raisearm(-70);
straightLeft(11);
driveForward(-10);
terminateOpModeNow(); terminateOpModeNow();
@ -301,9 +311,13 @@ public class BlueBackStage extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(1);
gripper.setPosition(0.25);
driveForward(6); driveForward(6);
raisearm(-50);
wrist.setPosition(1);
raisearm(-70);
straightLeft(19);
driveForward(-10);
terminateOpModeNow(); terminateOpModeNow();

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
View File

@ -262,7 +262,7 @@ public class RedBackStage extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.3); gripper.setPosition(1);
sleep(500); sleep(500);
driveForward(4.5); driveForward(4.5);
sleep(500); sleep(500);
@ -289,7 +289,7 @@ public class RedBackStage extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.35); gripper.setPosition(1);
driveForward(8.5); driveForward(8.5);
terminateOpModeNow(); terminateOpModeNow();
@ -312,7 +312,7 @@ else
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.3); gripper.setPosition(1);
sleep(500); sleep(500);
driveForward(5); driveForward(5);
terminateOpModeNow(); terminateOpModeNow();