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81
...de/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/TeamProp_Guessed.java
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| @@ -0,0 +1,81 @@ | ||
| package org.firstinspires.ftc.teamcode.gamecode.autonomous; | ||
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| import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag; | ||
| import static org.firstinspires.ftc.teamcode.operations.inputs.Target_inputs.imu; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.bl; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.br; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.fl; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.forwardMotors; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.fr; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.mapMotors; | ||
| import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.definingDriveMovements.EncoderTickDefinitions.forwardAuto; | ||
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| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| import com.qualcomm.robotcore.hardware.DcMotor; | ||
| import com.qualcomm.robotcore.hardware.DistanceSensor; | ||
| import com.qualcomm.robotcore.hardware.IMU; | ||
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| import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; | ||
| import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; | ||
| import org.firstinspires.ftc.teamcode.operations.Target_operations; | ||
| import org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Wheels; | ||
| import org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Encoders; | ||
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| @Autonomous(name="Chance Program (Team Prop)", group="auto") | ||
| public class TeamProp_Guessed extends Target_operations { | ||
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| DcMotor arm; | ||
| DistanceSensor sensorRange; | ||
| double degrees; | ||
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| @Override | ||
| public void runOpMode() throws InterruptedException { | ||
| // LinearOpMode that calls a different form of OpMode: | ||
| runInit(); | ||
| while(opModeInInit()){runInitLoop();} | ||
| waitForStart(); | ||
| runStart(); | ||
| if (isStopRequested()){runStop();} // stop OpMode if the button is pressed | ||
| while (opModeIsActive()) {runLoop();} | ||
| } | ||
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| @Override | ||
| public void runInit() { | ||
| //arm = hardwareMap.dcMotor.get("arm"); | ||
| mapMotors(hardwareMap, Wheels.FRONT_LEFT.abbreviation(),Wheels.FRONT_RIGHT.abbreviation(),Wheels.BACK_LEFT.abbreviation(),Wheels.BACK_RIGHT.abbreviation()); | ||
| forwardMotors(true,false,true,false); | ||
| sensorRange = hardwareMap.get(DistanceSensor.class, "eye"); | ||
| // ^ set motor directions | ||
| initAprilTag(hardwareMap, "Webcam 1", telemetry); | ||
| imu = hardwareMap.get(IMU.class, "imu"); | ||
| Encoders.use(); | ||
| Encoders.clear(); | ||
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| } | ||
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| @Override | ||
| public void runInitLoop(){} | ||
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| @Override | ||
| public void runStart() { | ||
| forwardAuto(30,5,100); // push pixel onto guessed tape | ||
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| } | ||
| @Override | ||
| public void runStop() { | ||
| stopAll(); | ||
| } | ||
| @Override | ||
| public void runLoop() { | ||
| telemetry.addData("distance ", sensorRange.getDistance(DistanceUnit.INCH)); | ||
| telemetry.addData("position FL ", fl.getCurrentPosition()); | ||
| telemetry.addData("position FR ", fr.getCurrentPosition()); | ||
| telemetry.addData("position BL ", bl.getCurrentPosition()); | ||
| telemetry.addData("position BR ", br.getCurrentPosition()); | ||
| telemetry.addData("degree ", imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES)); | ||
| telemetry.update(); | ||
| } | ||
| } | ||
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|
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