ScrimAutonomous.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Gyroscope;
import com.qualcomm.robotcore.hardware.Blinker;
import com.qualcomm.robotcore.hardware.Servo;
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="ScrimAutonomousRed", group="Linear Opmode")

public class ScrimAutonomous extends LinearOpMode {
    // Set up for encoder drive functions
    public ElapsedTime runtime = new ElapsedTime();
    static final double GEAR = 1.5;
    static final double     COUNTS_PER_MOTOR_REV    = 288 ;    // eg: TETRIX Motor Encoder
    // This is < 1.0 if geared UP
    static final double     WHEEL_DIAMETER_INCHES   = 3.54 ;     // For figuring circumference
    static final double     COUNTS_PER_INCH         = GEAR * (COUNTS_PER_MOTOR_REV) / (WHEEL_DIAMETER_INCHES * 3.1415);
    static final double     DRIVE_SPEED             = 0.6;
    static final double     TURN_SPEED              = 0.5;

    private DcMotor left;
    private DcMotor right;
    private DcMotor arm;
    private Servo lock;

    @Override
    public void runOpMode() {
        left = hardwareMap.get(DcMotor.class, "Left");
        right = hardwareMap.get(DcMotor.class, "Right");
        arm = hardwareMap.get(DcMotor.class, "arm");
        lock = hardwareMap.get(Servo.class,"lock");

        left.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
        right.setDirection(DcMotor.Direction.FORWARD); // Set to FORWARD if using AndyMark motors

        telemetry.addData("Status", "Initialized");
        telemetry.update();
        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        // run until the end of the match (driver presses STOP)
        telemetry.addData("Status", "Running");
        telemetry.update();

        resetEncoder();

        encoderDrive(DRIVE_SPEED,45,45,5);
        encoderDrive(DRIVE_SPEED,-40,-40,5);
        leftTurn(.5);
        encoderDrive(DRIVE_SPEED,46,46,5);
    }

    /**
     * @param angle Degree to turn. 360=1.
     */
    public void leftTurn(double angle){
      double radius = 14;
      double circum = 14 * 2 * 3.1415;
      encoderDrive(TURN_SPEED, radius*angle, 0, 5);
      left.setPower(0);
      right.setPower(0);
      sleep (250);
    }

    public void rightTurn(double angle){
      double radius = 14;
      double circum = 14 * 2 * 3.1415;
      encoderDrive(TURN_SPEED, 0, circum*angle, 5);
      left.setPower(0);
      right.setPower(0);
      sleep (250);
    }

    public void resetEncoder(){
        left.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        right.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        left.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        right.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
    }

    public void encoderDrive(double speed, double leftInches, double rightInches, double timeout) {
        int newLeftTarget;
        int newRightTarget;

        if (opModeIsActive()) {
            resetEncoder();

            newLeftTarget = left.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
            newRightTarget = right.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);

            left.setTargetPosition(newLeftTarget);
            right.setTargetPosition(newRightTarget);

            left.setMode(DcMotor.RunMode.RUN_TO_POSITION);
            right.setMode(DcMotor.RunMode.RUN_TO_POSITION);

            // reset the timeout time and start motion.
            runtime.reset();
            left.setPower(Math.abs(speed));
            right.setPower(Math.abs(speed));

            while (opModeIsActive() && (runtime.seconds() < timeout) && (left.isBusy() || right.isBusy())) {
                telemetry.addData("Path1",  "Running to %7d :%7d", newLeftTarget,  newRightTarget);
                telemetry.addData("Path2",  "Running at %7d :%7d",left.getCurrentPosition(), right.getCurrentPosition());
                telemetry.update();
            }

            left.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            right.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

            sleep(250);   // optional pause after each move
        }
    }
}