-
Notifications
You must be signed in to change notification settings - Fork 0
/
FullAutoBluePerp.java
64 lines (45 loc) · 1.87 KB
/
FullAutoBluePerp.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
package org.firstinspires.ftc.teamcode.Stuff_From_Loveland;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
/**
* Created by WHHS Robotics on 9/23/17.
*/
@Autonomous(name = "FullAutoBluePerp" , group ="RelicRecovery")
public class FullAutoBluePerp extends Processor{
@Override
public void runOpMode() throws InterruptedException {
//initalizes hardware on robot
bot.init(hardwareMap);
//analyzes the Pictogram image
//checkCol();
waitForStart();
//once again analyzes the Pictogram image
checkCol();
//stores the Pictogram image value in a instance variable
//checkVu();
//sets servo to grab the glyph touching the robot at the start of autonomous
bot.glyphServo1.setPosition(0.69);
bot.glyphServo2.setPosition(0.35);
sleep(1000);
runtime.reset();
//raises the Rev slides to pick the glyph off the ground to prevent dragging the glyph
while(runtime.milliseconds()<300) {
bot.slideMotor.setPower(-.8);
}
bot.slideMotor.setPower(0);
//knocks the correct jewel off according to our alliance color
knockJewel(false);
//moves the robot a distance of 21 inches at an angle of 180 off the horizontal with the side with the glyph servo being orientated at the angle of 90 off the horizontal
goAngle(23,180);
//turns the robot 90 degrees counter clock wise
turn(90);
//moves the robot a very small increment to line up with the cryptobox
// goAngle(5,0);
//travels in increments along the cryptobox to stop at the correct column indicated by the Pictogram image
//gotoColumnRightEnc();
//stops all motion
stopBotMotors();
sleep(1000);
//releases the glyph and pushes the glyph into the cryptobox
score();
}
}