Merge remote-tracking branch 'origin/Branch-Yixuan' into Branch-Yixuan

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementLibrary.java

@@ -4,42 +4,38 @@ 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) {
+    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);
-    }
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);}
 
-    public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+    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) {
+    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);
+        lhw.setPower(speedValue);
+
+
     }
+    public static void setDirectionRight(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 setDirectionLeft(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);
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Name.java

@@ -12,8 +12,12 @@ 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;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Autonomous(name="Name")
 public class Name extends LinearOpMode  {
     private DcMotor rightHandWheel;
@@ -33,10 +37,21 @@ public class Name extends LinearOpMode  {
         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");
+        colorSensor= hardwareMap.get(ColorSensor.class , "colorsensor");
+
+        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
+
+        MovementLibrary.setDirectionForward(rightHandWheel, rightLegWheel, leftHandWheel,leftLegWheel);
+
+        //from this
+        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
+
+        //thismotors
+        MovementLibrary.setDirectionForward(motors);
+
+        // Wait for the game to start (driver presses {Play
+        waitForStart();
 
-        MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
-        MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
 
         // Wait for the game to start (driver presses PLAY)
         waitForStart();
@@ -58,7 +73,7 @@ public class Name extends LinearOpMode  {
                 "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);
+            MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
 
             if(touchSensor.isPressed()) {
                 telemetry.speak("Ouchie that hurt me and my feelings");
@@ -68,18 +83,15 @@ public class Name extends LinearOpMode  {
             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.addData("green color value",colorSensor.green());
+            telemetry.addData("blue color value" ,colorSensor.blue());
             telemetry.update();
 
+            if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
+                MovementLibrary.setSpeed(0.4, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
+            }else {
+                MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
+            }
         }
 
     }