branch-cooper #2
@ -93,7 +93,7 @@ public class Autonomoustest extends LinearOpMode {
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static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
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(WHEEL_DIAMETER_INCHES * Math.PI);
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static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
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static final double DRIVE_SPEED = 0.2;
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static final double DRIVE_SPEED = 0.3;
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static final double TURN_SPEED = 0.4;
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static final double LONG_TIMEOUT = 1000;
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@ -105,6 +105,8 @@ public class Autonomoustest extends LinearOpMode {
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public void runOpMode()
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{
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hardwareinit();
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gripper.setPosition(1);
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sleep(1000);
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// Send telemetry message to indicate successful Encoder reset
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/* telemetry.addData("Starting at", "%7d :%7d",
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@ -214,6 +216,8 @@ public class Autonomoustest extends LinearOpMode {
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gripper = hardwareMap.get(Servo.class, "gripper");
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arm = hardwareMap.get(DcMotor.class, "arm raise");
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wrist = hardwareMap.get(Servo.class, "wrist");
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wrist.setPosition(1);
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sleep(1000);
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// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
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// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
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// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
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@ -251,13 +255,11 @@ public class Autonomoustest extends LinearOpMode {
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public void executeAuto()
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{
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arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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gripper.setPosition(1);
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sleep(1000);
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driveForward(28);
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driveForward(26);
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int blueleft = readColorLeft();
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int blueright = readColorRight();
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double backboard = 29;
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if (blueleft > 75)
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if (blueleft > 50 )
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{
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//telemetry.addData("color sensor","left");
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if(blueleft > blueright)
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@ -271,44 +273,45 @@ public class Autonomoustest extends LinearOpMode {
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straightLeft(32);
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turnLeft(10);
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driveForward(18);
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driveForward(-31);
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straightRight(31.5);
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raisearm(80);
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wrist.setPosition(0);
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raisearm(100);
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driveForward(-1);
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gripper.setPosition(0.25);
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driveForward(-40);
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// straightRight(31.5);
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// raisearm(80);
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// wrist.setPosition(0);
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// raisearm(100);
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// driveForward(-1);
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// gripper.setPosition(0.25);
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terminateOpModeNow();
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}
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if (blueright > 175)
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if (blueright > 50)
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{
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if(blueleft < blueright)
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telemetry.addData("color sensor","right");
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straightRight(11);
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raisearm(80);
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arm.setPower(0);
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driveForward(-13.5);
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driveForward(-15.5);
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turnLeft(90);
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straightLeft(15);
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driveForward(8);
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driveForward(-26);
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straightRight(22.5);
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raisearm(80);
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wrist.setPosition(0);
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raisearm(100);
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driveForward(-5);
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gripper.setPosition(.25);
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driveForward(-38);
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// straightRight(14.5);
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// raisearm(80);
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// wrist.setPosition(0);
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// raisearm(100);
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// gripper.setPosition(.25);
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// driveForward(5);
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// raisearm(-200);
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terminateOpModeNow();
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}
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else
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telemetry.addData("position","center");
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driveForward(4);
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driveForward(2.5);
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raisearm(80);
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arm.setPower(0);
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driveForward(-8);
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@ -323,6 +326,9 @@ public class Autonomoustest extends LinearOpMode {
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wrist.setPosition(0);
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raisearm(100);
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gripper.setPosition(.25);
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sleep(500);
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driveForward(5);
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raisearm(-270);
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telemetry.update();
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sleep(250);
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@ -93,7 +93,7 @@ public class bluefront extends LinearOpMode {
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static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
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(WHEEL_DIAMETER_INCHES * Math.PI);
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static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
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static final double DRIVE_SPEED = 0.2;
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static final double DRIVE_SPEED = 0.3;
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static final double TURN_SPEED = 0.4;
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static final double LONG_TIMEOUT = 1000;
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@ -214,6 +214,8 @@ public class bluefront extends LinearOpMode {
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gripper = hardwareMap.get(Servo.class, "gripper");
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arm = hardwareMap.get(DcMotor.class, "arm raise");
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wrist = hardwareMap.get(Servo.class, "wrist");
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wrist.setPosition(1);
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sleep(1000);
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// To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
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// When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
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// Note: The settings here assume direct drive on left and right wheels. Gear Reduction or 90 Deg drives may require direction flips
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@ -253,67 +255,68 @@ public class bluefront extends LinearOpMode {
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public void executeAuto()
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{
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arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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driveForward(28);
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driveForward(26);
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int blueleft = readColorLeft();
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int blueright = readColorRight();
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double backboard = 29;
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if (blueleft > 100)
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if (blueleft > 75)
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{
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//telemetry.addData("color sensor","left");
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if(blueleft > blueright)
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telemetry.addData("color sensor","left");
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straightLeft(8);
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raisearm(30);
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straightLeft(11);
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raisearm(80);
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arm.setPower(0);
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driveForward(-13.5);
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driveForward(-15.5);
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turnRight(90);
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straightRight(15);
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driveForward(8);
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driveForward(-26);
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straightLeft(22.5);
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raisearm(80);
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wrist.setPosition(0);
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raisearm(100);
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driveForward(-5);
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gripper.setPosition(.25);
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driveForward(-38);
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// straightLeft(22.5);
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// raisearm(80);
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// wrist.setPosition(0);
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// raisearm(100);
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// driveForward(-5);
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// gripper.setPosition(.25);
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terminateOpModeNow();
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}
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if (blueright > 100)
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if (blueright > 75)
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{
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if(blueleft < blueright)
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telemetry.addData("color sensor","right");
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turnRight(90);
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straightLeft(2);
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raisearm(30);
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driveForward(6.5);
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raisearm(80);
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arm.setPower(0);
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driveForward(-15);
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driveForward(-23);
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straightRight(32);
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turnRight(10);
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driveForward(18);
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driveForward(-31);
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straightLeft(34);
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raisearm(80);
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wrist.setPosition(0);
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raisearm(100);
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driveForward(-1);
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gripper.setPosition(0.25);
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terminateOpModeNow();
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driveForward(-40);
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// straightLeft(34);
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// raisearm(80);
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// wrist.setPosition(0);
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// raisearm(100);
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// driveForward(-1);
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// gripper.setPosition(0.25);
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// terminateOpModeNow();
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}
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else
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telemetry.addData("position","center");
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driveForward(11);
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raisearm(30);
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driveForward(2.5);
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raisearm(80);
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arm.setPower(0);
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driveForward(-6);
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driveForward(-8);
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straightLeft(11.5);
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driveForward(-17);
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driveForward(-15);
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turnRight(90);
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straightRight(15);
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driveForward(8);
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@ -322,8 +325,9 @@ public class bluefront extends LinearOpMode {
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raisearm(80);
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wrist.setPosition(0);
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raisearm(100);
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driveForward(-5);
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gripper.setPosition(.25);
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sleep(500);
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driveForward(5);
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telemetry.update();
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sleep(250);
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Reference in New Issue
Block a user