NMET.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * 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="NMET", group="Linear Opmode")

public class NMET extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotorEx left = null;
    private DcMotorEx right = null;

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must correspond to the names assigned during the robot configuration
        // step (using the FTC Robot Controller app on the phone).
        left  = hardwareMap.get(DcMotorEx.class, "Left");
        right = hardwareMap.get(DcMotorEx.class, "Right");

        left.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        right.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        
        waitForStart();
        
        // Set the motor's target position to 300 ticks
        left.setTargetPosition(100);
        right.setTargetPosition(100);
        
        // Switch to RUN_TO_POSITION mode
        left.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        right.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        
        // Start the motor moving by setting the max velocity to 200 ticks per second
        left.setVelocity(200);
        right.setVelocity(-200);
        telemetry.addData("Running",left.isBusy());
        telemetry.update();
        
        // While the Op Mode is running, show the motor's status via telemetry
        while (opModeIsActive()) {
            telemetry.addData("velocity", left.getVelocity());
            telemetry.addData("position", left.getCurrentPosition());
            telemetry.addData("is at target", !left.isBusy());
            telemetry.addData("running to ",left.getTargetPosition());
            telemetry.update();
        }
    }
}