CarouselPark_RED.java

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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_RED", group="SimpleAuto")
//@Disabled
public class CarouselPark_RED 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();


        waitForStart();
        runtime.reset();


        //strafe to right
        leftFront.setPower(-1*0.5);
        rightFront.setPower(-1*-0.5);
        leftBack.setPower(-1*-0.5);
        rightBack.setPower(-1*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

        //strafe left

        //back a little

        //strafe left

        //forward slightly

        //spinner starts
        spinner.setPower(0.35);
        sleep(1500);
        spinner.setPower(0.0);

        //spins faster
        spinner.setPower(0.8);
        sleep(2000);
        spinner.setPower(0.0);

        //straight back

        //strafe left
    }
}