02/05/22

Adjusted autonomous code for Pahrump League Meet FIRST-Tech-Challenge#4

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bob/Bob.java

@@ -3,99 +3,48 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.Servo;
 
 @TeleOp
 @SuppressWarnings({"unused"})
 public class Bob extends OpMode
 {
-    private DcMotor driveRF, driveRB, driveLF, driveLB, liftRight, liftLeft, intakeLeft, intakeRight;
-    private Servo dropIntake;
+    private DcMotor driveR, driveL;
+    private CRServo carousel;
 
     @Override
     public void init()
     {
-        driveRF = hardwareMap.get(DcMotor.class, "driveRF");
-        driveRB = hardwareMap.get(DcMotor.class, "driveRB");
-        driveLF = hardwareMap.get(DcMotor.class, "driveLF");
-        driveLB = hardwareMap.get(DcMotor.class, "driveLB");
-        liftRight = hardwareMap.get(DcMotor.class, "liftRight");
-        liftLeft = hardwareMap.get(DcMotor.class, "liftLeft");
-        intakeLeft = hardwareMap.get(DcMotor.class, "intakeLeft");
-        intakeRight = hardwareMap.get(DcMotor.class, "intakeRight");
-        dropIntake = hardwareMap.get(Servo.class, "dropIntake");
+        driveR = hardwareMap.get(DcMotor.class, "driveR");
+        driveL = hardwareMap.get(DcMotor.class, "driveL");
+        carousel = hardwareMap.get(CRServo.class, "carousel");
 
-        driveRF.setDirection(DcMotor.Direction.FORWARD);
-        driveRB.setDirection(DcMotor.Direction.FORWARD);
-        driveLF.setDirection(DcMotor.Direction.REVERSE);
-        driveLB.setDirection(DcMotor.Direction.REVERSE);
-        liftRight.setDirection(DcMotor.Direction.FORWARD);
-        liftLeft.setDirection(DcMotor.Direction.FORWARD);
-        intakeLeft.setDirection(DcMotor.Direction.FORWARD);
-        intakeRight.setDirection(DcMotor.Direction.FORWARD);
-        dropIntake.setDirection(Servo.Direction.FORWARD);
+        driveR.setDirection(DcMotor.Direction.FORWARD);
+        driveL.setDirection(DcMotor.Direction.FORWARD);
 
         telemetry.addData("Status", "Initialized");
         telemetry.update();
     }
 
     public void loop()
     {
-        //power values for drive train
-        double xPow, yPow, rxPow;
-        xPow = gamepad1.left_stick_x;
-        yPow = gamepad1.left_stick_y;
-        rxPow = gamepad1.right_stick_x;
 
-        //power to drive train (mecanum wheel movement)
-        driveRF.setPower(yPow - xPow - rxPow);
-        driveRB.setPower(yPow + xPow - rxPow);
-        driveLF.setPower(yPow + xPow + rxPow);
-        driveLB.setPower(yPow - xPow + rxPow);
+        driveL.setPower(-gamepad1.left_stick_y);
+        driveR.setPower(gamepad1.right_stick_y);
 
-        //servo to rotate intake up and down
-        if(gamepad1.a) //up
+        if (gamepad1.right_bumper) //clockwise
         {
-           dropIntake.setPosition(0.2);
+            carousel.setPower(1.0);
         }
-        else if (gamepad1.b) //down
+        else if (gamepad1.left_bumper) //counter-clockwise
         {
-            dropIntake.setPosition(0.7);
+            carousel.setPower(-1.0);
         }
-
-        //power linear slide to raise and lower intake
-        if (gamepad1.right_trigger > 0) //expand linear slides
-        {
-            liftRight.setPower(gamepad1.right_trigger/2);
-            liftLeft.setPower(gamepad1.right_trigger/2);
-        }
-        else if (gamepad1.left_trigger > 0) //contract linear slides
-        {
-            liftRight.setPower(-gamepad1.left_trigger/2);
-            liftLeft.setPower(-gamepad1.left_trigger/2);
-        }
-        else //supply no power to motors
-        {
-            liftRight.setPower(0.2);
-            liftRight.setPower(0.2);
-        }
-
-        //power intake mechanism to grab and release cargo
-        if (gamepad1.right_bumper) //take in cargo
-        {
-            intakeLeft.setPower(1.0);
-            intakeRight.setPower(-1.0);
-        }
-        else if (gamepad1.left_bumper) //release cargo
-        {
-            intakeLeft.setPower(-1.0);
-            intakeRight.setPower(1.0);
-        }
-        else //supply no power to motor
+        else //turn off power
         {
-            intakeLeft.setPower(0.0);
-            intakeRight.setPower(0.0);
+            carousel.setPower(0.0);
         }
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CameraTest.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/camera/CameraTest.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.camera;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
@@ -9,7 +9,6 @@
 import org.openftc.easyopencv.OpenCvCamera;
 import org.openftc.easyopencv.OpenCvCameraFactory;
 import org.openftc.easyopencv.OpenCvCameraRotation;
-import org.openftc.easyopencv.OpenCvInternalCamera;
 
 @Disabled
 @TeleOp

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NerdsPipeline.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/camera/NerdsPipeline.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.camera;
 
 import org.opencv.core.Mat;
 import org.opencv.core.Scalar;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RingDetector.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/camera/RingDetector.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.camera;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -12,7 +12,6 @@
 import org.opencv.imgproc.Imgproc;
 import org.openftc.easyopencv.OpenCvCamera;
 import org.openftc.easyopencv.OpenCvCameraFactory;
-import org.openftc.easyopencv.OpenCvCameraRotation;
 import org.openftc.easyopencv.OpenCvInternalCamera;
 import org.openftc.easyopencv.OpenCvPipeline;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TestCamera.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/camera/TestCamera.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.camera;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/legacy/AUTO_Shirley_Blue_LEGACY.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/legacy1/AUTO_Shirley_Blue_LEGACY.java

@@ -1,5 +1,5 @@
 //Meet #1 @ Legacy HS 11/20/2021
-package org.firstinspires.ftc.teamcode.legacy;
+package org.firstinspires.ftc.teamcode.legacy1;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/legacy/AUTO_Shirley_Red_LEGACY.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/legacy1/AUTO_Shirley_Red_LEGACY.java

@@ -1,5 +1,5 @@
 //Meet #1 @ Legacy HS 11/20/2021
-package org.firstinspires.ftc.teamcode.legacy;
+package org.firstinspires.ftc.teamcode.legacy1;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Blue_Storage_Mojave.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave3/AUTO_Shirley_Blue_Storage_Mojave.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.mojave;
+package org.firstinspires.ftc.teamcode.mojave3;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Blue_Warehouse_Mojave.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave3/AUTO_Shirley_Blue_Warehouse_Mojave.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.mojave;
+package org.firstinspires.ftc.teamcode.mojave3;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Red_Storage_Mojave.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave3/AUTO_Shirley_Red_Storage_Mojave.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.mojave;
+package org.firstinspires.ftc.teamcode.mojave3;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave/AUTO_Shirley_Red_Warehouse_Mojave.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mojave3/AUTO_Shirley_Red_Warehouse_Mojave.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.mojave;
+package org.firstinspires.ftc.teamcode.mojave3;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/AUTO_Shirley_Blue1.java

@@ -8,6 +8,7 @@
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
+@Disabled
 @Autonomous(name = "Shirley Blue Storage Unit BASE")
 @SuppressWarnings({"unused"})
 public class AUTO_Shirley_Blue1 extends LinearOpMode
@@ -116,7 +117,7 @@ public void runOpMode() throws InterruptedException
         frontDrive.setPower(1.0);
         backDrive.setPower(0.5);
         runtime.reset();
-        while(opModeIsActive() && runtime.seconds() < 0.75)//previously 0.6
+        while(opModeIsActive() && runtime.seconds() < 0.85)//previously 0.6, 0.75
         {
             telemetry.update();
         }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/AUTO_Shirley_Blue2.java

@@ -8,7 +8,8 @@
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-@Autonomous(name = "Shirley Blue Warehouse")
+@Disabled
+@Autonomous(name = "Shirley Blue Warehouse BASE")
 @SuppressWarnings({"unused"})
 public class AUTO_Shirley_Blue2 extends LinearOpMode
 {
@@ -32,6 +33,10 @@ public void runOpMode() throws InterruptedException
         telemetry.addData("Status", "Initialized");
         telemetry.update();
 
+        //initialize claw
+        rotateClaw.setPosition(0.75);
+        claw.setPosition(1.0);
+
         waitForStart();
 
         //turn towards warehouse

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/AUTO_Shirley_Red1.java

@@ -8,6 +8,7 @@
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
+@Disabled
 @Autonomous(name = "Shirley Red Storage Unit BASE")
 @SuppressWarnings({"unused"})
 public class AUTO_Shirley_Red1 extends LinearOpMode

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/AUTO_Shirley_Red2.java

@@ -8,7 +8,8 @@
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-@Autonomous(name = "Shirley Red Warehouse")
+@Disabled
+@Autonomous(name = "Shirley Red Warehouse BASE")
 @SuppressWarnings({"unused"})
 public class AUTO_Shirley_Red2 extends LinearOpMode
 {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/EncoderShirley.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.shirley;
 
 import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.CRServo;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/Shirley.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.shirley;
 
 import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.CRServo;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/shirley/ShirleyBob.java

@@ -0,0 +1,6 @@
+package org.firstinspires.ftc.teamcode.shirley;
+
+public class ShirleyBob
+{
+
+}