auto.java

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package org.firstinspires.ftc.teamcode.Autonomous;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.teamcode.TimedMecanumDrive;

/**
 * This file illustrates the concept of driving a path based on time.
 * The code is structured as a LinearOpMode
 *
 * The code assumes that you do NOT have encoders on the wheels,
 *   otherwise you would use: RobotAutoDriveByEncoder;
 *
 *   The desired path in this example is:
 *   - Drive forward for 3 seconds
 *   - Spin right for 1.3 seconds
 *   - Drive Backward for 1 Second
 *
 *  The code is written in a simple form with no optimizations.
 *  However, there are several ways that this type of sequence could be streamlined,
 *
 * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
 */

@Autonomous(name="Autonomous!", group="Robot")
@Disabled
public class auto extends LinearOpMode  {

    /* Declare OpMode members. */
    //motors
    public DcMotor leftFront = null;
    public DcMotor leftBack = null;
    public DcMotor rightFront = null;
    public DcMotor rightBack = null;
    public DcMotor extension = null;
    public DcMotor Intake = null;
    public DcMotor Outtake = null;
    //servos
    public Servo Drone = null;
    public Servo left_bucket = null;
    public Servo right_bucket = null;
    public Servo outtake_wheel = null;

    private ElapsedTime     runtime = new ElapsedTime();


    static final double     FORWARD_SPEED = 0.6;
    static final double     TURN_SPEED    = 0.5;

    @Override
    public void runOpMode() {

        // Initialize the drive system variables.
        leftFront  = hardwareMap.get(DcMotor.class, "leftFront");
        rightFront = hardwareMap.get(DcMotor.class, "rightFront");
        leftBack  = hardwareMap.get(DcMotor.class, "leftBack");
        rightBack = hardwareMap.get(DcMotor.class, "rightBack");

        // 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.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
        rightFront.setDirection(DcMotor.Direction.FORWARD);
        rightBack.setDirection(DcMotor.Direction.FORWARD);


        // Send telemetry message to signify robot waiting;
        telemetry.addData("Status", "Ready to run");    //
        telemetry.update();

        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        // Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way

        // Step 1:  Drive forward for 3 seconds
        leftFront.setPower(FORWARD_SPEED);
        leftBack.setPower(FORWARD_SPEED);
        rightFront.setPower(FORWARD_SPEED);
        rightBack.setPower(FORWARD_SPEED);
        runtime.reset();
        while (opModeIsActive() && (runtime.seconds() < 3.0)) {
            telemetry.addData("Path", "Leg 1: %4.1f S Elapsed", runtime.seconds());
            telemetry.update();
        }

        // Step 2: Drive back for 3 seconds
        leftFront.setPower(-FORWARD_SPEED);
        leftBack.setPower(-FORWARD_SPEED);
        rightFront.setPower(-FORWARD_SPEED);
        rightBack.setPower(-FORWARD_SPEED);
        runtime.reset();
        while (opModeIsActive() && (runtime.seconds() < 3.0)) {
            telemetry.addData("Path", "Leg 2: %4.1f S Elapsed", runtime.seconds());
            telemetry.update();
        }
        // Step 3:  Spin right for 1.3 seconds
        leftFront.setPower(TURN_SPEED);
        rightFront.setPower(-TURN_SPEED);
        leftBack.setPower(TURN_SPEED);
        rightBack.setPower(-TURN_SPEED);
        runtime.reset();
        while (opModeIsActive() && (runtime.seconds() < 1.3)) {
            telemetry.addData("Path", "Leg 4: %4.1f S Elapsed", runtime.seconds());
            telemetry.update();
        }

        // Step 4:  Drive forward for 5.5 seconds
        leftFront.setPower(FORWARD_SPEED);
        rightFront.setPower(FORWARD_SPEED);
        leftBack.setPower(FORWARD_SPEED);
        rightBack.setPower(FORWARD_SPEED);
        runtime.reset();
        while (opModeIsActive() && (runtime.seconds() < 1.0)) {
            telemetry.addData("Path", "Leg 5: %4.1f S Elapsed", runtime.seconds());
            telemetry.update();
        }

        // Step 5:  Stop/Park
        leftFront.setPower(0);
        rightFront.setPower(0);
        leftBack.setPower(0);
        rightBack.setPower(0);

        telemetry.addData("Path", "Complete");
        telemetry.update();
        sleep(1000);
    }
}