-
Notifications
You must be signed in to change notification settings - Fork 1
/
AutoClassOneBlue.java
108 lines (98 loc) · 4.35 KB
/
AutoClassOneBlue.java
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
package org.firstinspires.ftc.robotcontroller.internal;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcontroller.internal.FTCBOTHARDWARE;
@Autonomous (name = "AutoClassOneBlue", group = "Default")
public class AutoClassOneBlue extends LinearOpMode {
FTCBOTHARDWARE robot = new FTCBOTHARDWARE();
boolean red = false;
boolean blue = true;
private final double driveforward = 0.5;
private final double shiftMove = 1.0;
private final double stop = 0.0;
@Override
public void runOpMode() throws InterruptedException {
robot.init(hardwareMap);
waitForStart();
int count = 0;
while (opModeIsActive()) {
switch (count) {
/*case 1:
robot.Shift.setPower(-shiftMove);
sleep(350);
robot.Lift.setPower(driveforward);
sleep(500);
robot.Lift.setPower(stop);
count++;
break;*/
case 0:
if (red && !blue) {
robot.FrontLeft.setPower(-driveforward);
robot.FrontRight.setPower(-driveforward);
robot.BackLeft.setPower(-driveforward);
robot.BackRight.setPower(-driveforward);
sleep(1500);
/*robot.FrontLeft.setPower(-driveforward);
robot.FrontRight.setPower(driveforward);
robot.BackLeft.setPower(-driveforward);
robot.BackRight.setPower(driveforward);
sleep(750);
robot.FrontLeft.setPower(-driveforward);
robot.FrontRight.setPower(-driveforward);
robot.BackLeft.setPower(-driveforward);
robot.BackRight.setPower(-driveforward);
sleep(200);*/
robot.FrontLeft.setPower(stop);
robot.FrontRight.setPower(stop);
robot.BackLeft.setPower(stop);
robot.BackRight.setPower(stop);
count++;
} else if (blue && !red) {
robot.FrontLeft.setPower(driveforward);
robot.FrontRight.setPower(-driveforward);
robot.BackLeft.setPower(driveforward);
robot.BackRight.setPower(-driveforward);
sleep(1500);
/*robot.FrontLeft.setPower(driveforward);
robot.FrontRight.setPower(-driveforward);
robot.BackLeft.setPower(driveforward);
robot.BackRight.setPower(-driveforward);
sleep(750);
robot.FrontLeft.setPower(-driveforward);
robot.FrontRight.setPower(-driveforward);
robot.BackLeft.setPower(-driveforward);
robot.BackRight.setPower(-driveforward);
sleep(200);*/
robot.FrontLeft.setPower(stop);
robot.FrontRight.setPower(stop);
robot.BackLeft.setPower(stop);
robot.BackRight.setPower(stop);
count++;
} else {
robot.FrontLeft.setPower(stop);
robot.FrontRight.setPower(stop);
robot.BackLeft.setPower(stop);
robot.BackRight.setPower(stop);
count++;
}
break;
case 1:
robot.FrontLeft.setPower(stop);
robot.FrontRight.setPower(stop);
robot.BackLeft.setPower(stop);
robot.BackRight.setPower(stop);
idle();
break;
/*case 1:
robot.Shift.setPower(shiftMove);
sleep(350);
robot.Shift.setPower(stop);
idle();
break;
default:
break;*/
}
idle();
}
}
}