Add files via upload

TeamCode/build.gradle

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+//
+// build.gradle in TeamCode
+//
+// Most of the definitions for building your module reside in a common, shared
+// file 'build.common.gradle'. Being factored in this way makes it easier to
+// integrate updates to the FTC into your code. If you really need to customize
+// the build definitions, you can place those customizations in this file, but
+// please think carefully as to whether such customizations are really necessary
+// before doing so.
+
+
+// Custom definitions may go here
+
+// Include common definitions from above.
+apply from: '../build.common.gradle'
+apply from: '../build.dependencies.gradle'
+
+android {
+    namespace = 'org.firstinspires.ftc.teamcode'
+
+    packagingOptions {
+        jniLibs.useLegacyPackaging true
+    }
+}
+
+dependencies {
+    implementation project(':FtcRobotController')
+    annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+}

TeamCode/src/main/AndroidManifest.xml

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+<?xml version="1.0" encoding="utf-8"?>
+
+<!-- Note: the actual manifest file used in your APK merges this file with contributions
+     from the modules on which your app depends (such as FtcRobotController, etc).
+     So it won't ultimately be as empty as it might here appear to be :-) -->
+
+<!-- The package name here determines the package for your R class and your BuildConfig class -->
+<manifest
+    xmlns:android="http://schemas.android.com/apk/res/android">
+    <application/>
+</manifest>

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

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+@Autonomous(name="Blue, Board Side")
+public class BlueBoardSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+        visionPortal.close();
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        initAprilTag();
+    }
+
+    @Override
+    public void runInitLoop(){}
+
+    @Override
+    public void runStart() {}
+    @Override
+    public void runStop() {
+        stopAll();
+    }
+    @Override
+    public void runLoop() {
+
+        // when testing the botman's robot for a test bot make back wheels half speed (fr & fl = 1 then : br & bl = 0.5)
+
+        setAprilTagVariables();
+        if (gamepad1.a) {
+            drive(0.5,0.5, 0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.x) {
+            drive(0.5,-0.5, 0.25,-0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.b) {
+            drive(-0.5,0.5, -0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+        output(tagId);
+        if (tagId == 1){
+            output("The First Tag!");
+            runStop();
+        }
+        else if (tagId == 2){
+            output("The Second Tag!");
+            runStop();
+        }
+        else if (tagId == 3){
+            output("The Third Tag!");
+            runStop();
+        }
+
+    }
+}
+

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

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+@Autonomous(name="Blue, Far Side")
+public class BlueFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}

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

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+
+@TeleOp
+public class FieldCentric extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        imu();
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+        double y = -gamepad1.left_stick_y; // Remember, Y stick value is reversed
+        double x = gamepad1.left_stick_x;
+        double rx = gamepad1.right_stick_x;
+
+        // This button choice was made so that it is hard to hit on accident,
+        // it can be freely changed based on preference.
+        // The equivalent button is start on Xbox-style controllers.
+        if (gamepad1.options) {
+            imu.resetYaw();
+        }
+
+        double botHeading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+
+        // Rotate the movement direction counter to the bot's rotation
+        double rotX = x * Math.cos(-botHeading) - y * Math.sin(-botHeading);
+        double rotY = x * Math.sin(-botHeading) + y * Math.cos(-botHeading);
+
+        rotX = rotX * 1.1;  // Counteract imperfect strafing
+
+        // Denominator is the largest motor power (absolute value) or 1
+        // This ensures all the powers maintain the same ratio,
+        // but only if at least one is out of the range [-1, 1]
+        double denominator = Math.max(Math.abs(rotY) + Math.abs(rotX) + Math.abs(rx), 1);
+        double frontLeftPower = (rotY + rotX + rx) / denominator;
+        double backLeftPower = (rotY - rotX + rx) / denominator;
+        double frontRightPower = (rotY - rotX - rx) / denominator;
+        double backRightPower = (rotY + rotX - rx) / denominator;
+
+        fl.setPower(frontLeftPower);
+        bl.setPower(backLeftPower);
+        fr.setPower(frontRightPower);
+        br.setPower(backRightPower);
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}

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

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+@Autonomous(name="Red, Board Side")
+public class RedBoardSide extends TargetOperations {
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}

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

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+@Autonomous(name="Red, Far Side")
+public class RedFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}