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Competition #1 Code
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@knightsean00
knightsean00 committed Nov 3, 2018
1 parent d823364 commit 40478dd
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216 changes: 216 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Ambitious.java
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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;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;

@Autonomous(name="Ambitious", group="Autonomous Encoder")
public class Ambitious extends LinearOpMode {

// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftMotorFront = null;
private DcMotor leftMotorBack = null;
private DcMotor rightMotorFront = null;
private DcMotor rightMotorBack = null;
private DcMotor crane = null;
private DistanceSensor distance = null;

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

leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
crane = hardwareMap.get(DcMotor.class, "crane");
distance = hardwareMap.get(DistanceSensor.class, "distance");
rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
rightMotorBack.setDirection(DcMotor.Direction.REVERSE);

waitForStart();
runtime.reset();
//Stuff to display for Telemetry

//crane.setPower(1);
runtime.reset();
while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
telemetry.addLine("Phase: Lowering Part 1");
telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
telemetry.update();
crane.setPower(1);
}
sleep(900);
crane.setPower(0);
runtime.reset();
while (distance.getDistance(DistanceUnit.MM) > 70) {
telemetry.addLine("Phase: Lowering Part 2");
telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
telemetry.update();
crane.setPower(.75);
}
crane.setPower(0);
sleep(100);
runtime.reset();
while(runtime.milliseconds() < 50) {
telemetry.addLine("Bring up the crane a little bit.");
telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
telemetry.update();
crane.setPower(-.75);
}
crane.setPower(0);

sleep(2500);

runtime.reset();
while(runtime.milliseconds() < 150) {
telemetry.addLine("Move forward a little");
telemetry.update();
leftMotorFront.setPower(-.25);
leftMotorBack.setPower(-.25);
rightMotorFront.setPower(-.25);
rightMotorBack.setPower(-.25);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 750) {
telemetry.addLine("Turns right out of the hook");
telemetry.update();
leftMotorFront.setPower(.35);
leftMotorBack.setPower(.35);
rightMotorFront.setPower(-.35);
rightMotorBack.setPower(-.35);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 500) {
telemetry.addLine("Move Forward a little");
telemetry.update();
leftMotorFront.setPower(-.25);
leftMotorBack.setPower(-.25);
rightMotorFront.setPower(-.25);
rightMotorBack.setPower(-.25);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 750) {
telemetry.addLine("Turning Left to readjust and center");
telemetry.update();
leftMotorFront.setPower(-.35);
leftMotorBack.setPower(-.35);
rightMotorFront.setPower(.35);
rightMotorBack.setPower(.35);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(500);
runtime.reset();
while(runtime.milliseconds() < 500) {
telemetry.addLine("Going for team depot. Goes fast to get rid of team marker.");
telemetry.update();
leftMotorFront.setPower(-1);
leftMotorBack.setPower(-1);
rightMotorFront.setPower(-1);
rightMotorBack.setPower(-1);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

runtime.reset();
while(runtime.milliseconds() < 100) {
telemetry.addLine("Backing up to let the team marker go");
telemetry.update();
leftMotorFront.setPower(.4);
leftMotorBack.setPower(.4);
rightMotorFront.setPower(.4);
rightMotorBack.setPower(.4);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(500);

runtime.reset();
while(runtime.milliseconds() < 1500) {
telemetry.addLine("Going for team depot and pushing the team marker in");
telemetry.update();
leftMotorFront.setPower(-.25);
leftMotorBack.setPower(-.25);
rightMotorFront.setPower(-.25);
rightMotorBack.setPower(-.25);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 500) {
telemetry.addLine("Backing up");
telemetry.update();
leftMotorFront.setPower(.5);
leftMotorBack.setPower(.5);
rightMotorFront.setPower(.5);
rightMotorBack.setPower(.5);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 2500) {
telemetry.addLine("Turn right to crater");
telemetry.update();
leftMotorFront.setPower(.35);
leftMotorBack.setPower(.35);
rightMotorFront.setPower(-.35);
rightMotorBack.setPower(-.35);
}

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 3000) {
telemetry.addLine("Going for crater");
telemetry.update();
leftMotorFront.setPower(-.5);
leftMotorBack.setPower(-.5);
rightMotorFront.setPower(-.5);
rightMotorBack.setPower(-.5);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);
}
}
128 changes: 128 additions & 0 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoDetach.java
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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;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;

@Autonomous(name="AutonomousDetachOnly", group="Autonomous Encoder")
public class AutoDetach extends LinearOpMode {

// Declare OpMode members.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftMotorFront = null;
private DcMotor leftMotorBack = null;
private DcMotor rightMotorFront = null;
private DcMotor rightMotorBack = null;
private DcMotor crane = null;
private DistanceSensor distance = null;

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

leftMotorFront = hardwareMap.get(DcMotor.class, "left_motor_front");
leftMotorBack = hardwareMap.get(DcMotor.class, "left_motor_back");
rightMotorFront = hardwareMap.get(DcMotor.class, "right_motor_front");
rightMotorBack = hardwareMap.get(DcMotor.class, "right_motor_back");
crane = hardwareMap.get(DcMotor.class, "crane");
distance = hardwareMap.get(DistanceSensor.class, "distance");
rightMotorFront.setDirection(DcMotor.Direction.REVERSE);
rightMotorBack.setDirection(DcMotor.Direction.REVERSE);

waitForStart();
runtime.reset();

//Stuff to display for Telemetry

//crane.setPower(1);
runtime.reset();
while (Double.isNaN(distance.getDistance(DistanceUnit.MM))) {
telemetry.addLine("Phase: Lowering Part 1");
telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
telemetry.update();
crane.setPower(1);
}
sleep(900);
crane.setPower(0);
runtime.reset();
while (distance.getDistance(DistanceUnit.MM) > 70) {
telemetry.addLine("Phase: Lowering Part 2");
telemetry.addData("Distance", distance.getDistance(DistanceUnit.MM));
telemetry.update();
crane.setPower(.75);
}
crane.setPower(0);
sleep(100);
runtime.reset();
while(runtime.milliseconds() < 50) {
crane.setPower(-.75);
}
crane.setPower(0);

sleep(2500);

runtime.reset();
while(runtime.milliseconds() < 150) {
telemetry.addLine("Move forward");
telemetry.update();
leftMotorFront.setPower(-.25);
leftMotorBack.setPower(-.25);
rightMotorFront.setPower(-.25);
rightMotorBack.setPower(-.25);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 1000) {
telemetry.addLine("Turning");
telemetry.update();
leftMotorFront.setPower(.35);
leftMotorBack.setPower(.35);
rightMotorFront.setPower(-.35);
rightMotorBack.setPower(-.35);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 500) {
telemetry.addLine("Move Forward");
telemetry.update();
leftMotorFront.setPower(-.25);
leftMotorBack.setPower(-.25);
rightMotorFront.setPower(-.25);
rightMotorBack.setPower(-.25);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);

sleep(1000);
runtime.reset();
while(runtime.milliseconds() < 1000) {
telemetry.addLine("Turning Back");
telemetry.update();
leftMotorFront.setPower(-.35);
leftMotorBack.setPower(-.35);
rightMotorFront.setPower(.35);
rightMotorBack.setPower(.35);
}
leftMotorFront.setPower(0);
leftMotorBack.setPower(0);
rightMotorFront.setPower(0);
rightMotorBack.setPower(0);
}
}
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