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Auto.java
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Auto.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.JavaUtil;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.Arm;
import org.firstinspires.ftc.teamcode.Config;
import org.firstinspires.ftc.teamcode.DriveMotors;
import org.firstinspires.ftc.teamcode.ObjectDetection;
import org.firstinspires.ftc.teamcode.Heading;
import java.util.List;
public abstract class Auto extends LinearOpMode {
protected DriveMotors driveMotors;
protected Arm arm;
protected Intake intake;
protected ObjectDetection camera;
protected IMU imu;
protected Heading heading;
/**
* Initialize classes used by autos
*/
protected void Initialize() {
driveMotors = new DriveMotors(this);
arm = new Arm(this);
intake = new Intake(this);
camera = new ObjectDetection(this);
imu = hardwareMap.get(IMU.class, "imu");
imu.resetYaw();
}
/**
* Set reliable initial configuration for robot motors
*/
protected void MotorSetup() {
intake.CloseClaws(0);
intake.MoveWrist(0);
arm.DropArm();
sleep(1500);
arm.Initialize();
}
protected void saveHeading() {
double _heading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
this.heading.setHeading(_heading);
/*
String strHeading = Double.toString(heading);
File file = new File("heading");
FileWriter fw = new FileWriter(file, false);
fw.flush();
fw.write(strHeading);
writer.close();*/
}
}