Merge pull request ftctechnh#68 from HarshiniSomisetty/master

Changes to Ref
6150FTC · Dec 27, 2017 · c0eef86 · c0eef86
2 parents fe29c5c + f846fa7
commit c0eef86
Showing 1 changed file with 31 additions and 20 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FinalUniversalRef.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FinalUniversalRef.java
@@ -4,7 +4,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 /**
- * Created by Sahithi on 12/8/17.
+ * Created by Harshini on 12/8/17.
  */
 @Autonomous(name = "FinalUniversalRef",group = "Auto")
 public class FinalUniversalRef extends LinearOpMode
@@ -14,7 +14,7 @@ public void runOpMode()
     {
         newRobot = new NewRobotFinal(hardwareMap);
         newRobot.initVuforia(hardwareMap);
-        sleep(300);
+        sleep(250);
         char colorOfPlatform = newRobot.getColor(newRobot.getFloorColorSens());
         telemetry.addData("color = ", colorOfPlatform);
         telemetry.addData("Hue value", newRobot.getHueValue(newRobot.getFloorColorSens()));
@@ -27,25 +27,27 @@ public void runOpMode()
                 newRobot.openOrCloseDoor(true);
                 newRobot.moveWing(true);
                 newRobot.oldMoveLift(1);
-                sleep(500);
+                sleep(250);
                 char cipher = newRobot.getGlyphCipher();
-                char colorOfJewel = newRobot.getColor(newRobot.getrightWingColorSens());
+                char colorOfJewel = newRobot.getColor(newRobot.getleftWingColorSens());
                 telemetry.addData("jewel color = ", colorOfJewel);
-                telemetry.addData("Hue value", newRobot.getHueValue(newRobot.getrightWingColorSens()));
+                telemetry.addData("Hue value", newRobot.getHueValue(newRobot.getleftWingColorSens()));
                 telemetry.update();
                 switch (colorOfJewel)
                 {
                     case'r':
                         newRobot.driveStraight_In(8);
-                        sleep(500);
+                        //sleep(100);
                         newRobot.moveWing(false);
-                        newRobot.driveStraight_In(-8);
+                        newRobot.driveStraight_In(-8,.5);
+                        sleep(100)
                         break;
                     case 'b':
                         newRobot.driveStraight_In(-8);
-                        sleep(500);
+                        //sleep(100);
                         newRobot.moveWing(false);
-                        newRobot.driveStraight_In(8);
+                        newRobot.driveStraight_In(8,.5);
+                        sleep(100)
                         break;
                     default:
                         newRobot.moveWing(false);
@@ -56,29 +58,31 @@ public void runOpMode()
                 switch (newRobot.getGlyphCipher())
                 {
                     case 'l':
-                        newRobot.driveStraight_In(22);
+                        newRobot.driveStraight_In(5);
                         break;
                     case 'c':
                         newRobot.driveStraight_In(11.5f);
                         break;
                     case 'r':
-                        newRobot.driveStraight_In(5);
+                        newRobot.driveStraight_In(22);
                         break;
                     default:
                         newRobot.driveStraight_In(11.5f);
                         break;
                 }
-                newRobot.pivot_IMU(86, .25);
+                newRobot.pivot_IMU(80, .25);
                 newRobot.oldMoveLift(-1);
                 newRobot.openOrCloseDoor(false);
-                newRobot.driveStraight_In(16, .2);
+                newRobot.driveStraight_In(20);
+                newRobot.driveStraight_In(3,.2);
                 newRobot.driveStraight_In(-5,1);
                 newRobot.stopAllMotors();
+                break;
             case 'r':
                 newRobot.openOrCloseDoor(true);
                 newRobot.moveWing(true);
                 newRobot.oldMoveLift(1);
-                sleep(500);
+                sleep(250);
                 cipher = newRobot.getGlyphCipher();
                 colorOfJewel = newRobot.getColor(newRobot.getrightWingColorSens());
                 telemetry.addData("jewel color = ", colorOfJewel);
@@ -88,16 +92,19 @@ public void runOpMode()
                 {
                     case 'r':
                         newRobot.driveStraight_In(-8);
-                        sleep(500);
+                        sleep(100);
                         newRobot.moveWing(false);
-                        newRobot.driveStraight_In(8);
+                        newRobot.driveStraight_In(8,.5);
+                        sleep(100);
                     case 'b':
                         newRobot.driveStraight_In(8);
-                        sleep(500);
+                        sleep(100);
                         newRobot.moveWing(false);
-                        newRobot.driveStraight_In(-8);
+                        newRobot.driveStraight_In(-8,.5);
+                        sleep(100);
                         break;
                     default:
+                        newRobot.moveWing(false);
                         break;
                 }
                 telemetry.addData("Cipherr = ", cipher);
@@ -119,12 +126,16 @@ public void runOpMode()
                         newRobot.driveStraight_In(32);
                         break;
                 }
-                newRobot.pivot_IMU(-86, .25);
+                newRobot.pivot_IMU(-80, .25);
                 newRobot.oldMoveLift(-1);
                 newRobot.openOrCloseDoor(false);
-                newRobot.driveStraight_In(16,.2);
+                /*newRobot.driveStraight_In(16,.2);
+                newRobot.driveStraight_In(-5,1); */
+                newRobot.driveStraight_In(20);
+                newRobot.driveStraight_In(3,.2);
                 newRobot.driveStraight_In(-5,1);
                 newRobot.stopAllMotors();
+                break;
             default:
                 newRobot.driveStraight_In(29, .4);
                 newRobot.openOrCloseDoor(true);