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Copy from 9.0.1 to here

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robotics2
2023-11-04 10:08:49 -07:00
parent a9c0d443eb
commit 81e0825fea
1 changed files with 33 additions and 29 deletions
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62
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
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@ -93,7 +93,7 @@ public class bluefront extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(WHEEL_DIAMETER_INCHES * Math.PI); (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 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 TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000; static final double LONG_TIMEOUT = 1000;
@ -214,6 +214,8 @@ public class bluefront extends LinearOpMode {
gripper = hardwareMap.get(Servo.class, "gripper"); gripper = hardwareMap.get(Servo.class, "gripper");
arm = hardwareMap.get(DcMotor.class, "arm raise"); arm = hardwareMap.get(DcMotor.class, "arm raise");
wrist = hardwareMap.get(Servo.class, "wrist"); wrist = hardwareMap.get(Servo.class, "wrist");
wrist.setPosition(1);
sleep(1000);
// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions. // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
// 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
@ -253,67 +255,68 @@ public class bluefront extends LinearOpMode {
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(28); driveForward(26);
int blueleft = readColorLeft(); int blueleft = readColorLeft();
int blueright = readColorRight(); int blueright = readColorRight();
double backboard = 29; double backboard = 29;
if (blueleft > 100) if (blueleft > 75)
{ {
//telemetry.addData("color sensor","left"); //telemetry.addData("color sensor","left");
if(blueleft > blueright) if(blueleft > blueright)
telemetry.addData("color sensor","left"); telemetry.addData("color sensor","left");
straightLeft(8); straightLeft(11);
raisearm(30); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-13.5); driveForward(-15.5);
turnRight(90); turnRight(90);
straightRight(15); straightRight(15);
driveForward(8); driveForward(8);
driveForward(-26); driveForward(-38);
straightLeft(22.5); // straightLeft(22.5);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-5); // driveForward(-5);
gripper.setPosition(.25); // gripper.setPosition(.25);
terminateOpModeNow(); terminateOpModeNow();
} }
if (blueright > 100) if (blueright > 75)
{ {
if(blueleft < blueright) if(blueleft < blueright)
telemetry.addData("color sensor","right"); telemetry.addData("color sensor","right");
turnRight(90); turnRight(90);
straightLeft(2); straightLeft(2);
raisearm(30); driveForward(6.5);
raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-15); driveForward(-23);
straightRight(32); straightRight(32);
turnRight(10); turnRight(10);
driveForward(18); driveForward(18);
driveForward(-31); driveForward(-40);
straightLeft(34); // straightLeft(34);
raisearm(80); // raisearm(80);
wrist.setPosition(0); // wrist.setPosition(0);
raisearm(100); // raisearm(100);
driveForward(-1); // driveForward(-1);
gripper.setPosition(0.25); // gripper.setPosition(0.25);
terminateOpModeNow(); // terminateOpModeNow();
} }
else else
telemetry.addData("position","center"); telemetry.addData("position","center");
driveForward(11); driveForward(2.5);
raisearm(30); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-6); driveForward(-8);
straightLeft(11.5); straightLeft(11.5);
driveForward(-17); driveForward(-15);
turnRight(90); turnRight(90);
straightRight(15); straightRight(15);
driveForward(8); driveForward(8);
@ -322,8 +325,9 @@ public class bluefront extends LinearOpMode {
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
driveForward(-5);
gripper.setPosition(.25); gripper.setPosition(.25);
sleep(500);
driveForward(5);
telemetry.update(); telemetry.update();
sleep(250); sleep(250);