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color read up, not tested

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robotics2
2023-10-03 17:05:29 -07:00
parent ee86476ca3
commit c3d8dc6b11
1 changed files with 11 additions and 1 deletions
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12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
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@ -31,6 +31,7 @@ package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime; import com.qualcomm.robotcore.util.ElapsedTime;
@ -69,6 +70,7 @@ public class Autonomoustest extends LinearOpMode {
private DcMotor rightDrive = null; private DcMotor rightDrive = null;
private DcMotor backrightDrive = null; private DcMotor backrightDrive = null;
private DcMotor backleftDrive = null; private DcMotor backleftDrive = null;
private ColorSensor colorRight = null;
@ -97,6 +99,7 @@ public class Autonomoustest extends LinearOpMode {
rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt"); rightDrive = hardwareMap.get(DcMotor.class, "Drive front rt");
backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt"); backleftDrive = hardwareMap.get(DcMotor.class, "Drive back lt");
backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt"); backrightDrive = hardwareMap.get(DcMotor.class, "Drive back rt");
colorRight = hardwareMap.get(ColorSensor.class, "color right");
// 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
@ -131,7 +134,7 @@ public class Autonomoustest extends LinearOpMode {
// Note: Reverse movement is obtained by setting a negative distance (not speed) // Note: Reverse movement is obtained by setting a negative distance (not speed)
//driveForward(2); //driveForward(2);
//driveForward(80); //driveForward(80);
driveForward(28); readColor();
//turnRight(90); //turnRight(90);
@ -185,6 +188,13 @@ public class Autonomoustest extends LinearOpMode {
double turning_distance = degrees * DEGREE_TOO_DISTANCE; double turning_distance = degrees * DEGREE_TOO_DISTANCE;
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT); encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
} }
public void readColor()
{
telemetry.addData("Clear", colorRight.alpha());
telemetry.addData("Red ", colorRight.red());
telemetry.addData("Green", colorRight.green());
telemetry.addData("Blue ", colorRight.blue());
}
/* /*
* Method to perform a relative move, based on encoder counts. * Method to perform a relative move, based on encoder counts.