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CarouselPark_BLUE.java
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CarouselPark_BLUE.java
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
* the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
* of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
* class is instantiated on the Robot Controller and executed.
*
* This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
* It includes all the skeletal structure that all linear OpModes contain.
*
* Use Android Studios 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="CarouselPark_BLUE", group="SimpleAuto")
//@Disabled
public class CarouselPark_BLUE extends LinearOpMode {
// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
DcMotor leftFront;
DcMotor rightFront;
DcMotor leftBack;
DcMotor rightBack;
DcMotor spinner;
Servo dropper;
double power = 0.5;
@Override
public void runOpMode() {
telemetry.addData("Status", "Initialized");
telemetry.update();
leftFront = hardwareMap.dcMotor.get("leftFront");
leftBack = hardwareMap.dcMotor.get("leftBack");
rightFront = hardwareMap.dcMotor.get("rightFront");
rightBack = hardwareMap.dcMotor.get("rightBack");
spinner = hardwareMap.dcMotor.get("spinner");
dropper = hardwareMap.servo.get("dropper");
leftFront.setDirection(DcMotor.Direction.REVERSE);
leftBack.setDirection(DcMotor.Direction.REVERSE);
waitForStart();
runtime.reset();
//strafe to right
leftFront.setPower(0.5);
rightFront.setPower(-0.5);
leftBack.setPower(-0.5);
rightBack.setPower(0.5);
sleep(1100);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//going backward
leftFront.setPower(-0.23);
rightFront.setPower(-0.23);
leftBack.setPower(-0.23);
rightBack.setPower(-0.23);
sleep(1900);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//deposit element onto shipping hub
dropper.setPosition(1.0);
sleep(2000);
//set dropper back into position
dropper.setPosition(0);
sleep(3000);
//forward slightly
leftFront.setPower(0.1);
rightFront.setPower(0.1);
leftBack.setPower(0.1);
rightBack.setPower(0.1);
sleep(700);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//strafe left
leftFront.setPower(-0.5);
rightFront.setPower(0.5);
leftBack.setPower(0.5);
rightBack.setPower(-0.5);
sleep(1100);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//forward slightly
leftFront.setPower(0.4);
rightFront.setPower(0.4);
leftBack.setPower(0.4);
rightBack.setPower(0.4);
sleep(1000);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//back slightly
leftFront.setPower(-0.4);
rightFront.setPower(-0.4);
leftBack.setPower(-0.4);
rightBack.setPower(-0.4);
sleep(1900);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//strafe left
leftFront.setPower(-0.5);
rightFront.setPower(0.5);
leftBack.setPower(0.5);
rightBack.setPower(-0.5);
sleep(2000);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//spinner starts
spinner.setPower(0.35);
sleep(1500);
spinner.setPower(0.0);
//spins faster
spinner.setPower(0.8);
sleep(2000);
spinner.setPower(0.0);
//strafe left
leftFront.setPower(0.23);
rightFront.setPower(-0.23);
leftBack.setPower(-0.23);
rightBack.setPower(0.23);
sleep(2000);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//straight back
leftFront.setPower(-0.23);
rightFront.setPower(-0.23);
leftBack.setPower(-0.23);
rightBack.setPower(-0.23);
sleep(1300);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
//strafe left
leftFront.setPower(-0.4);
rightFront.setPower(0.4);
leftBack.setPower(0.4);
rightBack.setPower(-0.4);
sleep(5000);
leftFront.setPower(0.0);
rightFront.setPower(0.0);
leftBack.setPower(0.0);
rightBack.setPower(0.0);
}
}