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AutonomousRed.java
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AutonomousRed.java
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
/**
* This file illustrates the concept of driving a path based on time.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
* <p>
* The code assumes that you do NOT have encoders on the wheels,
* otherwise you would use: PushbotAutoDriveByEncoder;
* <p>
* The desired path in this example is:
* - Drive forward for 3 seconds
* - Spin right for 1.3 seconds
* - Drive Backwards for 1 Second
* - Stop and close the claw.
* <p>
* The code is written in a simple form with no optimizations.
* However, there are several ways that this type of sequence could be streamlined,
* <p>
* Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
*/
@Autonomous(name = "AutonomousRed", group = "Pushbot")
public class AutonomousRed extends LinearOpMode {
@Override
public void runOpMode() {
/* Declare OpMode members. */
DcMotor leftFront = hardwareMap.dcMotor.get("leftFront");
DcMotor rightFront = hardwareMap.dcMotor.get("rightFront");
DcMotor leftBack = hardwareMap.dcMotor.get("leftBack");
DcMotor rightBack = hardwareMap.dcMotor.get("rightBack");
DcMotor intake = hardwareMap.dcMotor.get("intake");
DcMotor output = hardwareMap.dcMotor.get("output");
DcMotor duck = hardwareMap.dcMotor.get("duck");
rightFront.setDirection(DcMotor.Direction.FORWARD);
rightBack.setDirection(DcMotor.Direction.REVERSE);
leftFront.setDirection(DcMotor.Direction.REVERSE);
leftBack.setDirection(DcMotor.Direction.FORWARD);
intake.setDirection(DcMotor.Direction.REVERSE);
output.setDirection(DcMotor.Direction.FORWARD);
duck.setDirection(DcMotor.Direction.FORWARD);
// Send telemetry message to signify robot waiting;
telemetry.addData("Status", "Ready to run"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
leftFront.setPower(1);
rightFront.setPower(1);
leftBack.setPower(1);
rightBack.setPower(1);
sleep(800);
leftFront.setPower(0);
rightFront.setPower(0);
leftBack.setPower(0);
rightBack.setPower(0);
output.setPower(-1);
sleep(1000);
output.setPower(1);
sleep(980);
output.setPower(0);
leftFront.setPower(-1);
rightFront.setPower(-1);
leftBack.setPower(-1);
rightBack.setPower(-1);
sleep(150);
leftFront.setPower(-1);
rightFront.setPower(1);
leftBack.setPower(-1);
rightBack.setPower(1);
sleep(1100);
leftFront.setPower(1);
rightFront.setPower(1);
leftBack.setPower(1);
rightBack.setPower(1);
sleep(7000);
}
}