AutonomousProgram.java

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package org.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;

/**
 * This OpMode uses the common Pushbot hardware class to define the devices on the robot.
 * All device access is managed through the HardwarePushbot class.
 * The code is structured as a LinearOpMode
 * <p>
 * This particular OpMode executes a POV Game style Teleop for a PushBot
 * In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
 * It raises and lowers the claw using the Gampad Y and A buttons respectively.
 * It also opens and closes the claws slowly using the left and right Bumper buttons.
 * <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 = "Mecanum: Autonomous", group = "Mecanum")
public class AutonomousProgram extends LinearOpMode {

    /* Declare OpMode members. */
    HardwareMecanum robot = new HardwareMecanum();   // Use a Mecanum's hardware
    /* Public OpMode members. */


    @Override
    public void runOpMode() {
        /* Initialize the hardware variables.
         * The init() method of the hardware class does all the work here
         */
        robot.init(hardwareMap);

        // Send telemetry message to signify robot waiting;
        telemetry.addData("Say", "Hello Driver");    //
        telemetry.update();

        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        try {
            drive(Direction.LEFT, 2000);
        // pick up block
            drive(Direction.UP, 2000);
            drive(Direction.RIGHT, 2000);
            drive(Direction.UP, 2000);
        } catch (Exception e) {
            e.printStackTrace();
        }
        // drop block
    }

    enum Direction {
        LEFT,
        RIGHT,
        UP,
        DOWN
    }

    void spin(Direction direction, long length) {
        switch (direction) {
            case LEFT:
                robot.frontRightDrive.setPower(-0.5);
                robot.backRightDrive.setPower(-0.5);
                robot.frontLeftDrive.setPower(0.5);
                robot.backLeftDrive.setPower(0.5);
            case RIGHT:
                robot.frontRightDrive.setPower(0.5);
                robot.backRightDrive.setPower(0.5);
                robot.frontLeftDrive.setPower(-0.5);
                robot.backLeftDrive.setPower(-0.5);
        }

        sleep(length);

        halt();
    }

    void halt() {
        for (DcMotor m : new DcMotor[]{robot.frontLeftDrive, robot.backRightDrive, robot.frontRightDrive, robot.backLeftDrive}) {
            m.setPower(0);
        }
    }

    void drive(Direction direction, long length) throws Exception {
        double[] powers = getPowers(direction);
        double x = powers[0];
        double y = powers[1];

        robot.frontLeftDrive.setPower(x);
        robot.backRightDrive.setPower(x);
        robot.frontRightDrive.setPower(y);
        robot.backLeftDrive.setPower(y);

        sleep(length);

        halt();
    }

    double[] getPowers(Direction direction) throws Exception {
        switch (direction) {
            case LEFT:
                return new double[]{-0.5, 0.5};
            case RIGHT:
                return new double[]{0.5, -0.5};
            case UP:
                return new double[]{0.5, 0.5};
            case DOWN:
                return new double[]{-0.5, -0.5};
        }

        throw new Exception();
    }
}