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AutonDepot.java
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AutonDepot.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous
public class AutonDepot extends LinearOpMode {
ChassisAuton theChassis;
HardwarePlatter theHardwarePlatter;
Arm theArm;
Intake theIntake;
ElevatorClimb theElevatorClimb;
ClawLatch theClawLatch;
Wheeliebar theWheeliebar;
MarkerServo theMarkerServo;
Sampler theSampler;
public void runOpMode() {
theHardwarePlatter = new HardwarePlatter(hardwareMap);
theChassis = new ChassisAuton(theHardwarePlatter);
theArm = new Arm(theHardwarePlatter);
theIntake = new Intake(theHardwarePlatter);
theElevatorClimb = new ElevatorClimb(theHardwarePlatter);
theClawLatch = new ClawLatch(theHardwarePlatter);
theWheeliebar = new Wheeliebar(theHardwarePlatter);
theMarkerServo = new MarkerServo(theHardwarePlatter);
theSampler = new Sampler(hardwareMap);
theMarkerServo.markerServo_initialized();
telemetry.addData("robot", "initialized");
telemetry.update();
waitForStart();
while (opModeIsActive()) {
//0) Sample minerals -1 is left, 1 Right, 0 Center
theSampler.initVuforia();
if (ClassFactory.getInstance().canCreateTFObjectDetector()) {
theSampler.initTfod();
} else {
telemetry.addData("Sorry!", "This device is not compatible with TFOD");
}
theSampler.activate();
theSampler.sampleMinerals();
theSampler.display(telemetry);
telemetry.update();
delay(5000);
int LeftRightCenter = theSampler.sampleMinerals();
theSampler.deactivate();
//1) Land and unlatch from lander
theElevatorClimb.dropDown(); // robot goes up to release the latch
delay(750);
theElevatorClimb.climberStop(); //stops the climber motor
//elevatorClimbUp();
if (!theHardwarePlatter.climberLimitSwUp.isPressed())
theElevatorClimb.climbUpAuton(); //robot drops down
else theElevatorClimb.climberStop(); // Stops motor
delay(500);
theClawLatch.autoOpen(); //Reset climber Hook Position
delay(500);
wheeliebarDown();
//2.1) Move the Cube for left
//int LeftRightCenter = 1;
if (LeftRightCenter == -1) {
theChassis.rotateAuton(-2.75, 0.5); // Rotate toward the mineral
delay(750);
driveAuton(-20.0, 0.5); // Drive backward 20 inches toward the crater
theChassis.rotateAuton(6, 0.5); // Rotate to the crater
delay(750);
//3.1) Drop Marker after left
driveAuton(-20.0, 0.5); // Drive backward 20 inches toward the crater
theMarkerServo.markerServo_down(); // Drop marker
delay(750);
//4) Drive to Crater after left
driveAuton(33, 0.8); // Drive forward 35 inches
theMarkerServo.markerServo_up(); // raise marker
delay(1500);
theChassis.rotateAuton(-11.5, 0.5); // Rotate toward the mineral
delay(1000);
driveAuton(-8, 0.8);
}
//2.2) Move the Cube for Center
else if (LeftRightCenter == 0) {
driveAuton(-26.0, 0.5); // Drive backward 20 inches toward the crater
theChassis.rotateAuton(4.75, 0.5);
delay(200);
driveAuton(-5, 0.5); // Drive backward 20 inches toward the crater
//3.1) Drop Marker after center
theMarkerServo.markerServo_down(); // Drop marker
delay(300);
//4) Drive to Crater after center
theMarkerServo.markerServo_up(); // raise marker
driveAuton(18, 0.4); // Drive forward 35 inches
theChassis.rotateAuton(-1.5, 0.5); // Rotate toward the mineral
delay(200);
driveAuton(15, 0.8); // Drive forward 35 inches
theMarkerServo.markerServo_up(); // raise marker
theChassis.rotateAuton(-12, 0.5); // Rotate toward the mineral
delay(200);
driveAuton(-8, 0.8);
}
//2.1) Move the Cube for right
else if (LeftRightCenter == 1) {
theChassis.rotateAuton(2.5, 0.4); // Rotate toward the mineral
delay(100);
driveAuton(-20, 0.3); // Drive backward 20 inches toward the crater
theWheeliebar.down();
delay(1000);
//3.1) Drop Marker after right
theChassis.rotateAuton(-5.25, 0.4); // Rotate to the crater
delay(100);
theWheeliebar.up();
delay(100);
driveAuton(-12, 0.3); // Drive backward 20 inches toward the crater
driveToWall(29); // Rotate toward the mineral
delay(100);
theChassis.rotateAuton(6.5, 0.4); // Rotate to the crater
delay(100);
theMarkerServo.markerServo_down(); // Drop marker
delay(500);
//4) Drive to Crater after right
theMarkerServo.markerServo_up(); // raise marker
driveAuton(18, 0.4); // Drive forward 35 inches
theChassis.rotateAuton(-1.0, 0.4); // Rotate toward the mineral
delay(200);
driveAuton(14, 0.8); // Drive forward 35 inches
theMarkerServo.markerServo_up(); // raise marker
theChassis.rotateAuton(-12, 0.4); // Rotate toward the mineral
delay(200);
driveAuton(-8, 0.8);
}
// 5 ) Unfold the arms into the Crater
if (!theHardwarePlatter.climberLimitSwDn.isPressed()) {
theElevatorClimb.climbDownAuton();
} else theElevatorClimb.climberStop(); // Stops motor
theClawLatch.autoClose(); // close the claw latch to allow arm to rotate
delay(750);
theArm.unfold(); //set the arm to unfold position
theClawLatch.autoOpen(); //Reset climber Hook Position
delay(3000); //wait for 1.5 seconds
theIntake.openDumpServo(); //open the dump servo
delay(1000);
/*
theArm.unfold(); //set the arm to unfold position into the crater
delay(2000); //wait 1.5 seconds
theIntake.openDumpServo(); //open the dump servo
delay(1000); //wait 1 seconds
*/
theIntake.closeDumpServo();
theArm.middle();
theClawLatch.autoOpen();
delay(10000); //Wait for 10 seconds or for auton to end
}
}
// Telemetry and core functions in while loop to update the telemetry, control arm, and cycle gyro
void delay(int timeout_ms) {
ElapsedTime runtime = new ElapsedTime();
runtime.reset();
while (opModeIsActive() && (runtime.time() < timeout_ms / 1000.0)) {
//sleep(timeout_ms);
telemetry.addData("Encoders_run", theHardwarePlatter.elevatorDrive.getCurrentPosition());
telemetry.addData("Distance from wall", theChassis.getDistanceFromWall());
telemetry.addData("time", runtime.time());
telemetry.addData("timeout", timeout_ms);
telemetry.addData("Pot_Voltage", theHardwarePlatter.armPotentiometer.getVoltage());
theArm.display(telemetry);
theSampler.display(telemetry);
telemetry.update();
if (theArm.isMoving()) theArm.moveOrHoldPosition();
theWheeliebar.moveOrHoldPosition();
sleep(100);
}
theArm.stop();
}
void driveToWall(double distanceCM) {
while (!theChassis.driveToWall(distanceCM, -0.3) && opModeIsActive()) ;
}
void unfold() {
theArm.unfold();
while (opModeIsActive() && theArm.moveOrHoldPosition()) ;
}
void middle() {
theArm.middle();
while (opModeIsActive() && theArm.moveOrHoldPosition()) ;
}
void release() {
theArm.release();
while (opModeIsActive() && theArm.moveOrHoldPosition()) ;
}
void pickUp() {
theArm.pickUp();
while (opModeIsActive() && theArm.moveOrHoldPosition()) ;
}
void drive() {
theArm.drive();
while (opModeIsActive() && theArm.moveOrHoldPosition()) ;
}
void driveAuton(double distance, double speed) {
theChassis.driveAuton(distance, speed);
while (opModeIsActive() && theChassis.isDriveBusy()) {
}
}
void rotateAuton(double distance, double speed) {
theChassis.rotateAuton(distance, speed);
while (opModeIsActive() && theChassis.isDriveBusy()) ;
}
void elevatorClimbUp() {
theElevatorClimb.climbUpAuton(); //robot drops down
while (opModeIsActive() && !theHardwarePlatter.climberLimitSwUp.isPressed()) ;
theElevatorClimb.climberStop(); // Stops motor
}
void wheeliebarDown() {
theWheeliebar.down();
while (opModeIsActive() && theWheeliebar.moveOrHoldPosition()) ;
}
}