From 93edbbf45f3ece14b2f71e3aeea6305f94c86687 Mon Sep 17 00:00:00 2001 From: robotics2 Date: Tue, 12 Dec 2023 17:05:15 -0800 Subject: [PATCH] meet #2 final code --- .../org/firstinspires/ftc/teamcode/Blue.java | 1 - .../ftc/teamcode/BlueBackStage.java | 15 +++++------ .../org/firstinspires/ftc/teamcode/Red.java | 1 - .../ftc/teamcode/RedBackStage.java | 27 +++++-------------- .../firstinspires/ftc/teamcode/manual.java | 4 +-- 5 files changed, 16 insertions(+), 32 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Blue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Blue.java index 0a6be35..10402bf 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Blue.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Blue.java @@ -200,7 +200,6 @@ public class Blue extends LinearOpMode { arm = hardwareMap.get(DcMotor.class, "arm raise"); wrist = hardwareMap.get(Servo.class, "wrist"); distance = hardwareMap.get(DistanceSensor.class, "distance"); - 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. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java index 4103a70..3f2fd0a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java @@ -194,7 +194,6 @@ public class BlueBackStage extends LinearOpMode { gripper = hardwareMap.get(Servo.class, "gripper"); arm = hardwareMap.get(DcMotor.class, "arm raise"); 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. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. @@ -233,7 +232,7 @@ public class BlueBackStage extends LinearOpMode { sleep(3000); } public void executeAuto() - { + { arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); driveForward(26); sleep(500); @@ -249,13 +248,13 @@ public class BlueBackStage extends LinearOpMode { driveForward(-15.5); turnRight(90); straightRight(15); - driveForward(-20.5); + driveForward(-19); straightLeft(19); driveForward(-1.5); raisearm(80); wrist.setPosition(0); raisearm(100); - gripper.setPosition(0.25); + gripper.setPosition(0.3); sleep(500); driveForward(5); terminateOpModeNow(); @@ -273,14 +272,14 @@ public class BlueBackStage extends LinearOpMode { driveForward(5.25); raisearm(80); arm.setPower(0); - driveForward(-40); - straightLeft(3); + driveForward(-39.5); + straightLeft(4); raisearm(80); wrist.setPosition(0); raisearm(100); - gripper.setPosition(0.25); + gripper.setPosition(0.35); sleep(500); - driveForward(5); + driveForward(7.5); terminateOpModeNow(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Red.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Red.java index 6b2e155..ddd1c5b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Red.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Red.java @@ -196,7 +196,6 @@ public class Red extends LinearOpMode { gripper = hardwareMap.get(Servo.class, "gripper"); arm = hardwareMap.get(DcMotor.class, "arm raise"); 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. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java index 040530d..65cdf50 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java @@ -198,7 +198,6 @@ public class RedBackStage extends LinearOpMode { arm = hardwareMap.get(DcMotor.class, "arm raise"); wrist = hardwareMap.get(Servo.class, "wrist"); distance = hardwareMap.get(DistanceSensor.class, "distance"); - 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. // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive. @@ -262,16 +261,14 @@ public class RedBackStage extends LinearOpMode { driveForward(-10); straightRight(33); driveForward(-7.5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); raisearm(80); wrist.setPosition(0); raisearm(100); - gripper.setPosition(0.25); + gripper.setPosition(0.3); sleep(500); - driveForward(5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); - telemetry.update(); - sleep(1000); + driveForward(4.5); + sleep(500); + driveForward(1.5); terminateOpModeNow(); @@ -291,16 +288,11 @@ public class RedBackStage extends LinearOpMode { driveForward(-20.5); straightRight(19); driveForward(-1.5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); raisearm(80); wrist.setPosition(0); raisearm(100); - gripper.setPosition(0.25); - sleep(500); - driveForward(5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); - telemetry.update(); - sleep(1000); + gripper.setPosition(0.35); + driveForward(8.5); terminateOpModeNow(); @@ -318,17 +310,12 @@ else straightLeft(15); driveForward(-18); straightRight(29); - driveForward(-1.5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); raisearm(80); wrist.setPosition(0); raisearm(100); - gripper.setPosition(0.25); + gripper.setPosition(0.3); sleep(500); driveForward(5); - telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); - telemetry.update(); - sleep(1000); terminateOpModeNow(); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java index 0ceea52..90fd5ed 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java @@ -97,7 +97,7 @@ public class manual extends OpMode { } //double num = 2.25; - final static double MOTOR_HI_SPEED_RATIO = 2.25; + final static double MOTOR_HI_SPEED_RATIO = 1.75; final static double MOTOR_LO_SPEED_RATIO = 3.5; final static double ARM_POWER = 3.5; double num = MOTOR_HI_SPEED_RATIO; @@ -143,7 +143,7 @@ public class manual extends OpMode { } if(gamepad2.dpad_up) { - wrist.setPosition(0.4); + wrist.setPosition(0.465); } if(gamepad2.dpad_down) {