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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");
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.

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");
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();

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");
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.

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");
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();

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java
View File

@ -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)
{