SCDS/FtcRobotController
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robotics2
2024-01-11 17:00:03 -08:00
parent 8108e5c42f
commit d025c7b106
1 changed files with 12 additions and 12 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
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@ -169,7 +169,8 @@ public class BlueBackStage extends LinearOpMode {
encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
}
public void turnRight(double degrees) {
public void turnRight(double degrees)
{
leftDrive.setDirection(DcMotor.Direction.REVERSE);
rightDrive.setDirection(DcMotor.Direction.REVERSE);
backrightDrive.setDirection(DcMotor.Direction.FORWARD);
@ -248,15 +249,15 @@ public class BlueBackStage extends LinearOpMode {
driveForward(-15.5);
turnRight(90);
straightRight(15);
driveForward(-19);
straightLeft(19);
driveForward(-1.5);
driveForward(-18);
straightLeft(20.25);
driveForward(-.30);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(0.3);
sleep(500);
driveForward(5);
driveForward(6);
terminateOpModeNow();
@ -277,8 +278,7 @@ public class BlueBackStage extends LinearOpMode {
raisearm(80);
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(0.35);
sleep(500);
gripper.setPosition(0.45);
driveForward(7.5);
terminateOpModeNow();
@ -288,7 +288,7 @@ public class BlueBackStage extends LinearOpMode {
telemetry.addData("position","center");
telemetry.update();
driveForward(3.5);
raisearm(80);
raisearm(80);;
arm.setPower(0);
driveForward(-8);
straightLeft(11.5);
@ -297,13 +297,13 @@ public class BlueBackStage extends LinearOpMode {
straightRight(15);
driveForward(-18);
straightLeft(29);
driveForward(-1.5);
driveForward(-2);
raisearm(80);
wrist.setPosition(0);
raisearm(100);
gripper.setPosition(0.3);
sleep(500);
driveForward(5);
gripper.setPosition(0.25);
gripper.setPosition(0.25);
driveForward(6);
terminateOpModeNow();