Piece 2

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md

@@ -1,45 +1,2 @@
-
-## Caution
-No Team-specific code should be placed or modified in this ``.../samples`` folder.
-
-Samples should be Copied from here, and then Pasted into the team's 
-[/TeamCode/src/main/java/org/firstinspires/ftc/teamcode](../../../../../../../../../../TeamCode/src/main/java/org/firstinspires/ftc/teamcode)
- folder, using the Android Studio cut and paste commands.  This automatically changes all file and
-class names to be consistent.  From there, the sample can be modified to suit the team's needs.
-
-For more detailed instructions see the /teamcode readme.  
-
-### Naming of Samples
-
-To gain a better understanding of how the samples are organized, and how to interpret the
-naming system, it will help to understand the conventions that were used during their creation.
-
-These conventions are described (in detail) in the sample_conventions.md file in this folder.
-
-To summarize: A range of different samples classes will reside in the java/external/samples.
-The class names will follow a naming convention which indicates the purpose of each class.
-The prefix of the name will be one of the following:
-
-Basic:  	This is a minimally functional OpMode used to illustrate the skeleton/structure
-            of a particular style of OpMode.  These are bare bones examples.
-
-Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
-            It is not intended to drive a functioning robot, it is simply showing the minimal code
-            required to read and display the sensor values.
-
-Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
-            It may be used to provide a common baseline driving OpMode, or
-            to demonstrate how a particular sensor or concept can be used to navigate.
-
-Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
-            These may be complex, but their operation should be explained clearly in the comments,
-            or the comments should reference an external doc, guide or tutorial.
-            Each OpMode should try to only demonstrate a single concept so they are easy to
-            locate based on their name.  These OpModes may not produce a drivable robot. 
-
-After the prefix, other conventions will apply:
-
-* Sensor class names are constructed as:    Sensor - Company - Type
-* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
-* Concept class names are constructed as:   Concept - Topic - OpModetype
-
+# external.samples
+> this is where the sdk's default sample projects are held.

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

@@ -1,11 +1,14 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.autonomous;
 
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Camera.visionPortal;
+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.DistanceMovements.forward;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.hardcoredMovements.EachMotorSet.drive;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -14,7 +17,7 @@
 import org.firstinspires.ftc.teamcode.operations.Wheels;
 import org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Encoders;
 
-@Autonomous(name="Blue, Board Side")
+@Autonomous(name="Blue, Board Side", group="auto")
 public class BlueBoardSide extends TargetOperations {
 
     DcMotor arm;
@@ -47,7 +50,19 @@ public void runInitLoop(){}
 
     @Override
     public void runStart() {
-        forward(300, 1);
+        // must set up methods for this later
+        Encoders.clear();
+        Encoders.target(-5000,-5000,-5000,-5000); // - must be to go forward
+        Encoders.go();
+        drive(-500,-500,-500,-500);
+        sleep(500); // wait this makes sure that the robot does not strafe when it should not
+        // ^ forward away from wall
+
+        // strafe left into backstage
+        Encoders.clear();
+        Encoders.target(1800,-1800,-1800,1800); // - must be to go forward
+        Encoders.go();
+        drive(500,-500,-500,500);
 
     }
     @Override
@@ -57,7 +72,10 @@ public void runStop() {
     @Override
     public void runLoop() {
 
-        telemetry.addData("position", br.getCurrentPosition());
+        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.update();
     }
 }

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

@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.autonomous;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.firstinspires.ftc.teamcode.operations.TargetOperations;
 
-@Autonomous(name="Blue, Far Side")
+@Autonomous(name="Blue, Far Side", group="auto")
 public class BlueFarSide extends TargetOperations {
 
     @Override

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

@@ -0,0 +1,76 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.initAprilTag;
+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.hardcoredMovements.EachMotorSet.drive;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+import org.firstinspires.ftc.teamcode.operations.Wheels;
+import org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Encoders;
+
+@Autonomous(name="Red, Board Side", group="auto")
+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() {
+        //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);
+        // ^ set motor directions
+        initAprilTag(hardwareMap, "Webcam 1");
+        Encoders.clear();
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+        // must set up methods for this later
+        Encoders.clear();
+        Encoders.target(-1000,-1000,-1000,-1000); // - must be to go forward
+        Encoders.go();
+        drive(500,500,500,500);
+        sleep(500); // wait this makes sure that the robot does not strafe when it should not
+
+        Encoders.clear();
+        Encoders.target(-1800,1800,1800,-1800); // - must be to go forward
+        Encoders.go();
+        drive(-500,500,500,-500);
+    }
+
+    @Override
+    public void runLoop() {
+        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.update();
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}

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

@@ -1,10 +1,10 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.autonomous;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 
 import org.firstinspires.ftc.teamcode.operations.TargetOperations;
 
-@Autonomous(name="Red, Far Side")
+@Autonomous(name="Red, Far Side", group="auto")
 public class RedFarSide extends TargetOperations {
 
     @Override