AutonDefenseCapBallBlue.java

/*
Copyright (c) 2016 Robert Atkinson

All rights reserved.

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are permitted (subject to the limitations in the disclaimer below) provided that
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of conditions and the following disclaimer.

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list of conditions and the following disclaimer in the documentation and/or
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Neither the name of Robert Atkinson nor the names of his contributors may be used to
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*/
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;

/**
 * This file illustrates the concept of driving a path based on encoder counts.
 * It uses the common Pushbot hardware class to define the drive on the robot.
 * The code is structured as a LinearOpMode
 *
 * The code REQUIRES that you DO have encoders on the wheels,
 *   otherwise you would use: PushbotAutoDriveByTime;
 *
 *  This code ALSO requires that the drive Motors have been configured such that a positive
 *  power command moves them forwards, and causes the encoders to count UP.
 *
 *   The desired path in this example is:
 *   - Drive forward for 48 inches
 *   - Spin right for 12 Inches
 *   - Drive Backwards for 24 inches
 *   - Stop and close the claw.
 *
 *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
 *  that performs the actual movement.
 *  This methods assumes that each movement is relative to the last stopping place.
 *  There are other ways to perform encoder based moves, but this method is probably the simplest.
 *  This code uses the RUN_TO_POSITION mod e to enable the Motor controllers to generate the run profile
 *
 * 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="CraigLauncher: Defense Hit Cap Ball BLUE", group="CraigLauncher")
public class AutonDefenseCapBallBlue extends CraigLauncherAuton {

    @Override
    public void runOpMode() {

        setup();

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

        runRoutine(8000);

        telemetry.addData("Path", "Complete");
        telemetry.update();
    }

    public void runRoutine(long delay) {
        // Step through each leg of the path,
        // Note: Reverse movement is obtained by setting a negative distance (not speed)
        // (-,+) is turn left; (+,-) is turn right
        // Max time values are commented for each robot operation (not including delayO

        sleep(delay);
        double dist1 = 8 * Math.sqrt(2) * 12;
        encoderDrive(CraigLauncherAuton.DRIVE_SPEED,  dist1, dist1, 8.0);
        encoderDrive(CraigLauncherAuton.TURN_SPEED, -15, 15, 2.0);
        encoderDrive(CraigLauncherAuton.DRIVE_SPEED, 72, 72, 4.0);

    }

}