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49 changes: 49 additions & 0 deletions
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RIC_samples/AutonomousSample.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| package org.firstinspires.ftc.teamcode.RIC_samples; | ||
|
|
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| import com.acmerobotics.roadrunner.Pose2d; | ||
| import com.acmerobotics.roadrunner.Vector2d; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
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|
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| import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive.DriveCommandPackage; | ||
| import org.firstinspires.ftc.teamcode.utils.AutonomousProgramTemplate; | ||
| import org.firstinspires.ftc.teamcode.utils.enums.AutonomousLocation; | ||
|
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| @Autonomous(name = "AutonomousSample",group = "SAMPLE") | ||
| public class AutonomousSample extends AutonomousProgramTemplate { | ||
| @Override | ||
| public void runOpMode() { | ||
| Init(new Pose2d(0,0,0)); | ||
| robot.client.addData("Position","WAITING FOR REQUEST"); | ||
| AutonomousLocation location = AutonomousLocation.failed; | ||
| while (opModeIsNotActive()) { | ||
| location=robot.webcam.getLocation(); | ||
| robot.client.changeDate("Position",location.name()); | ||
| sleep(50); | ||
| } | ||
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|
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| if(!WaitForStartRequest())return; | ||
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| robot.client.deleteDate("Position"); | ||
| switch (location){ | ||
| case left: | ||
| robot.strafeTo(robot.pose().position.plus(new Vector2d(0,24))); | ||
| robot.turnAngle(90); | ||
| robot.strafeTo(new Vector2d(24,0)); | ||
| break; | ||
| case centre: | ||
| DriveCommandPackage command=drive.drivingCommandsBuilder() | ||
| .StrafeTo(robot.pose().position.plus(new Vector2d(0,24))) | ||
| .TurnAngle(90) | ||
| .StrafeInDistance(Math.toRadians(-90),Math.sqrt(1152)) | ||
| .END(); | ||
| drive.runDriveCommandPackage(command); | ||
| break; | ||
| case right: | ||
| break; | ||
| case failed: | ||
| return; | ||
| } | ||
|
|
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| sleep(1145141919); | ||
| } | ||
| } |
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31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/AutonomousProgramTemplate.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| package org.firstinspires.ftc.teamcode.utils; | ||
|
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| import com.acmerobotics.roadrunner.Pose2d; | ||
| import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; | ||
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| import org.firstinspires.ftc.teamcode.DriveControls.SimpleMecanumDrive; | ||
| import org.firstinspires.ftc.teamcode.Robot; | ||
| import org.firstinspires.ftc.teamcode.utils.enums.runningState; | ||
|
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| public abstract class AutonomousProgramTemplate extends LinearOpMode { | ||
| public Robot robot; | ||
| public SimpleMecanumDrive drive; | ||
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| public void Init(Pose2d position){ | ||
| robot=new Robot(hardwareMap, runningState.Autonomous,telemetry); | ||
| drive=robot.enableSimpleMecanumDrive(position); | ||
| } | ||
| public boolean WaitForStartRequest(){ | ||
| while(opModeIsNotActive()){ | ||
| sleep(50); | ||
| } | ||
|
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| return opModeStopped(); | ||
| } | ||
| public boolean opModeIsNotActive(){ | ||
| return !opModeIsActive()&&!isStopRequested(); | ||
| } | ||
| public boolean opModeStopped(){ | ||
| return opModeIsActive() && ! isStopRequested(); | ||
| } | ||
| } |