From 00fddffd327b699caad8880119e108ea0832d925 Mon Sep 17 00:00:00 2001 From: robotics1 Date: Tue, 19 Mar 2024 16:31:33 -0700 Subject: [PATCH] I did codifying --- .../ftc/teamcode/MovementLibrary.java | 45 ++++++++++ .../org/firstinspires/ftc/teamcode/Name.java | 87 +++++++++++++++++++ 2 files changed, 132 insertions(+) create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java new file mode 100644 index 000000000..0a2396e38 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java @@ -0,0 +1,45 @@ +package org.firstinspires.ftc.teamcode; + +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorSimple; + +public class MovementLibrary { + + + public static void setDirectionForward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) { + rhw.setDirection(DcMotor.Direction.REVERSE); + rlw.setDirection(DcMotor.Direction.FORWARD); + lhw.setDirection(DcMotorSimple.Direction.FORWARD); + llw.setDirection(DcMotorSimple.Direction.REVERSE); + } + + public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) { + rhw.setDirection(DcMotor.Direction.FORWARD); + rlw.setDirection(DcMotor.Direction.REVERSE); + lhw.setDirection(DcMotorSimple.Direction.REVERSE); + llw.setDirection(DcMotorSimple.Direction.FORWARD); + } + + public static void setDirectionLeft (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) { + rhw.setDirection(DcMotor.Direction.REVERSE); + rlw.setDirection(DcMotor.Direction.REVERSE); + lhw.setDirection(DcMotorSimple.Direction.FORWARD); + llw.setDirection(DcMotorSimple.Direction.FORWARD); + } + + public static void setDirectionRight (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) { + rhw.setDirection(DcMotor.Direction.FORWARD); + rlw.setDirection(DcMotor.Direction.FORWARD); + lhw.setDirection(DcMotorSimple.Direction.REVERSE); + llw.setDirection(DcMotorSimple.Direction.REVERSE); + } + + public static void setSpeed (double speedValue, DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) { + rhw.setPower(speedValue); + rlw.setPower(speedValue); + lhw.setPower(speedValue); + llw.setPower(speedValue); + } + + +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java new file mode 100644 index 000000000..159c819cf --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java @@ -0,0 +1,87 @@ +package org.firstinspires.ftc.teamcode; + +import static java.lang.Math.round; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.AnalogSensor; +import com.qualcomm.robotcore.hardware.ColorSensor; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorSimple; +import com.qualcomm.robotcore.hardware.DistanceSensor; +import com.qualcomm.robotcore.hardware.TouchSensor; +import org.firstinspires.ftc.teamcode.MovementLibrary; +import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; + +@Autonomous(name="Name") +public class Name extends LinearOpMode { + private DcMotor rightHandWheel; + private DcMotor rightLegWheel; + private DcMotor leftHandWheel; + private DcMotor leftLegWheel; + private TouchSensor touchSensor; + private DistanceSensor distanceSensor; + private ColorSensor colorSensor; + + @Override + public void runOpMode() throws InterruptedException { + + rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel"); + rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel"); + leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel"); + leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel"); + touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor"); + distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor"); + colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor"); + + MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel); + MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel); + + // Wait for the game to start (driver presses PLAY) + waitForStart(); + + while(opModeIsActive()){ + + /* telemetry.speak( "Oh see, you see" + + "By the dusk's late light" + + "What so proudly we rained" + + "At the twilight's last gleaming?" + + "Whose broad stripes and dark stars" + + "Through the perilous fight" + + "Under the ramparts we watched" + + "Were so gallantly, no, streaming?" + + "And the rockets' red glare" + + "The bombs contracting in air" + + "Gave proof through the night" + + "That our flag was not there" + + "O say, that star-spangled banner doesn't wave" + + "Over the land of the enslaved and the home of the cowardly");*/ + + MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel); + + if(touchSensor.isPressed()) { + telemetry.speak("Ouchie that hurt me and my feelings"); + telemetry.addData("was i triggered", touchSensor.isPressed()); + } + + double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH); + + telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue); + telemetry.addData("Red: ", colorSensor.red()); + telemetry.addData("Green: ", colorSensor.green()); + telemetry.addData("Blue: ", colorSensor.blue()); + + if(colorSensor.green() > 1100 && colorSensor.blue() > 1000) { + MovementLibrary.setSpeed(0.4,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel); + } else { + MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel); + }; + + telemetry.update(); + + } + + } + +}