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meet #2 final code

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robotics2
2023-12-12 17:05:15 -08:00
parent 76ca6437ed
commit 93edbbf45f
5 changed files with 16 additions and 32 deletions
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1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Blue.java
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@ -200,7 +200,6 @@ public class Blue extends LinearOpMode {
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");
distance = hardwareMap.get(DistanceSensor.class, "distance"); distance = hardwareMap.get(DistanceSensor.class, "distance");
wrist.setPosition(1);
sleep(1000); 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.

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
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@ -194,7 +194,6 @@ public class BlueBackStage 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); 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.
@ -233,7 +232,7 @@ public class BlueBackStage extends LinearOpMode {
sleep(3000); sleep(3000);
} }
public void executeAuto() public void executeAuto()
{ {
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(26); driveForward(26);
sleep(500); sleep(500);
@ -249,13 +248,13 @@ public class BlueBackStage extends LinearOpMode {
driveForward(-15.5); driveForward(-15.5);
turnRight(90); turnRight(90);
straightRight(15); straightRight(15);
driveForward(-20.5); driveForward(-19);
straightLeft(19); straightLeft(19);
driveForward(-1.5); driveForward(-1.5);
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(0.3);
sleep(500); sleep(500);
driveForward(5); driveForward(5);
terminateOpModeNow(); terminateOpModeNow();
@ -273,14 +272,14 @@ public class BlueBackStage extends LinearOpMode {
driveForward(5.25); driveForward(5.25);
raisearm(80); raisearm(80);
arm.setPower(0); arm.setPower(0);
driveForward(-40); driveForward(-39.5);
straightLeft(3); straightLeft(4);
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(0.35);
sleep(500); sleep(500);
driveForward(5); driveForward(7.5);
terminateOpModeNow(); terminateOpModeNow();

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Red.java
View File

@ -196,7 +196,6 @@ public class Red 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); 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.

27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
View File

@ -198,7 +198,6 @@ public class RedBackStage extends LinearOpMode {
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");
distance = hardwareMap.get(DistanceSensor.class, "distance"); distance = hardwareMap.get(DistanceSensor.class, "distance");
wrist.setPosition(1);
sleep(1000); 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.
@ -262,16 +261,14 @@ public class RedBackStage extends LinearOpMode {
driveForward(-10); driveForward(-10);
straightRight(33); straightRight(33);
driveForward(-7.5); driveForward(-7.5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH));
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(0.3);
sleep(500); sleep(500);
driveForward(5); driveForward(4.5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH)); sleep(500);
telemetry.update(); driveForward(1.5);
sleep(1000);
terminateOpModeNow(); terminateOpModeNow();
@ -291,16 +288,11 @@ public class RedBackStage extends LinearOpMode {
driveForward(-20.5); driveForward(-20.5);
straightRight(19); straightRight(19);
driveForward(-1.5); driveForward(-1.5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH));
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(0.35);
sleep(500); driveForward(8.5);
driveForward(5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH));
telemetry.update();
sleep(1000);
terminateOpModeNow(); terminateOpModeNow();
@ -318,17 +310,12 @@ else
straightLeft(15); straightLeft(15);
driveForward(-18); driveForward(-18);
straightRight(29); straightRight(29);
driveForward(-1.5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH));
raisearm(80); raisearm(80);
wrist.setPosition(0); wrist.setPosition(0);
raisearm(100); raisearm(100);
gripper.setPosition(0.25); gripper.setPosition(0.3);
sleep(500); sleep(500);
driveForward(5); driveForward(5);
telemetry.addData("distance back", distance.getDistance(DistanceUnit.INCH));
telemetry.update();
sleep(1000);
terminateOpModeNow(); terminateOpModeNow();

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java
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@ -97,7 +97,7 @@ public class manual extends OpMode {
} }
//double num = 2.25; //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 MOTOR_LO_SPEED_RATIO = 3.5;
final static double ARM_POWER = 3.5; final static double ARM_POWER = 3.5;
double num = MOTOR_HI_SPEED_RATIO; double num = MOTOR_HI_SPEED_RATIO;
@ -143,7 +143,7 @@ public class manual extends OpMode {
} }
if(gamepad2.dpad_up) if(gamepad2.dpad_up)
{ {
wrist.setPosition(0.4); wrist.setPosition(0.465);
} }
if(gamepad2.dpad_down) if(gamepad2.dpad_down)
{ {