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Copy from 9.0.1 to here

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robotics2
2023-11-04 10:07:31 -07:00
parent 8db63f829c
commit a9c0d443eb
1 changed files with 83 additions and 77 deletions
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160
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
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@ -93,7 +93,7 @@ public class Autonomoustest extends LinearOpMode {
static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
(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 DRIVE_SPEED = 0.2;
static final double DRIVE_SPEED = 0.3;
static final double TURN_SPEED = 0.4;
static final double LONG_TIMEOUT = 1000;
@ -105,6 +105,8 @@ public class Autonomoustest extends LinearOpMode {
public void runOpMode()
{
hardwareinit();
gripper.setPosition(1);
sleep(1000);
// Send telemetry message to indicate successful Encoder reset
/* telemetry.addData("Starting at", "%7d :%7d",
@ -204,7 +206,7 @@ public class Autonomoustest extends LinearOpMode {
}
public void hardwareinit()
{
{
leftDrive = hardwareMap.get(DcMotor.class, "Drive front lt");
rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt");
backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
@ -214,6 +216,8 @@ public class Autonomoustest 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.
// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
@ -249,91 +253,93 @@ public class Autonomoustest extends LinearOpMode {
}
public void executeAuto()
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
driveForward(26);
int blueleft = readColorLeft();
int blueright = readColorRight();
double backboard = 29;
if (blueleft > 50 )
{
arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
gripper.setPosition(1);
sleep(1000);
driveForward(28);
int blueleft = readColorLeft();
int blueright = readColorRight();
double backboard = 29;
if (blueleft > 75)
{
//telemetry.addData("color sensor","left");
if(blueleft > blueright)
telemetry.addData("color sensor","left");
turnLeft(90);
straightLeft(2);
driveForward(6.5);
raisearm(80);
arm.setPower(0);
driveForward(-23);
straightLeft(32);
turnLeft(10);
driveForward(18);
driveForward(-31);
straightRight(31.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-1);
gripper.setPosition(0.25);
terminateOpModeNow();
}
if (blueright > 175)
{
if(blueleft < blueright)
telemetry.addData("color sensor","right");
straightRight(11);
raisearm(80);
arm.setPower(0);
driveForward(-13.5);
turnLeft(90);
straightLeft(15);
driveForward(8);
driveForward(-26);
straightRight(22.5);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
driveForward(-5);
gripper.setPosition(.25);
terminateOpModeNow();
}
else
telemetry.addData("position","center");
driveForward(4);
raisearm(80);
//telemetry.addData("color sensor","left");
if(blueleft > blueright)
telemetry.addData("color sensor","left");
turnLeft(90);
straightLeft(2);
driveForward(6.5);
raisearm(80);
arm.setPower(0);
driveForward(-8);
straightRight(11.5);
driveForward(-15);
driveForward(-23);
straightLeft(32);
turnLeft(10);
driveForward(18);
driveForward(-40);
// straightRight(31.5);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// driveForward(-1);
// gripper.setPosition(0.25);
terminateOpModeNow();
}
if (blueright > 50)
{
if(blueleft < blueright)
telemetry.addData("color sensor","right");
straightRight(11);
raisearm(80);
arm.setPower(0);
driveForward(-15.5);
turnLeft(90);
straightLeft(15);
driveForward(8);
driveForward(-26);
straightRight(29);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(.25);
telemetry.update();
sleep(250);
driveForward(-38);
// straightRight(14.5);
// raisearm(80);
// wrist.setPosition(0);
// raisearm(100);
// gripper.setPosition(.25);
// driveForward(5);
// raisearm(-200);
terminateOpModeNow();
}
else
telemetry.addData("position","center");
driveForward(2.5);
raisearm(80);
arm.setPower(0);
driveForward(-8);
straightRight(11.5);
driveForward(-15);
turnLeft(90);
straightLeft(15);
driveForward(8);
driveForward(-26);
straightRight(29);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(.25);
sleep(500);
driveForward(5);
raisearm(-270);
telemetry.update();
sleep(250);
//Values were created from robot with wheel issues 9/28/23
//Values were created from robot with wheel issues 9/28/23
telemetry.addData("Path", "Complete");
telemetry.update();
sleep(1000); // pause to display final telemetry message.
telemetry.addData("Path", "Complete");
telemetry.update();
sleep(1000); // pause to display final telemetry message.
}