FORWARD_RIGHT_Parking.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import java.util.List;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Hardware;
import com.qualcomm.robotcore.hardware.HardwareMap;

@Autonomous(name="FORWARD RIGHT Parking", group="HorusHardware")
@Disabled

public class FORWARD_RIGHT_Parking extends LinearOpMode {

    //This Autonomous Will make Horus move forward a bit, then Strafe Right
    //and Stay in the Parking Zone of the Bridge
    HardwareHorus robot = new HardwareHorus(); // Using Horus' hardware

    @Override
    public void runOpMode(){

        telemetry.addData("Status", "Initialize Hardware");
        telemetry.update();
        robot.init(hardwareMap);

        double max = robot.maxpow; // 1.00
        double mid = robot.midpow; // 0.75
        double min = robot.minpow; // 0.50

        // Send telemetry message to signify robot waiting;
        telemetry.addData("Status", "Hello! Waiting For Start");
        telemetry.update();

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

    /*
    List of Autonomous Commands located in HardwareHorus.java

    DriveForward(power)                  StrafeLeft(power)
    DriveBackwards(power)                StrafeRight(power)
    TurnLeft(power)                      AutoHookDown()
    TurnRight(power)                     AutoHookUp()
    GrabPlate()                          ReleasePlate()
    StopAllWheelMotors()
    */

        robot.Arm.setPower(mid);
        sleep(1000);
        robot.Arm.setPower(0.0);
        sleep(50);

        //Horus Will Wait 15 Seconds to allow other teams to perform their Code
        robot.StopAllWheelMotors();
        sleep(15000);

        //Horus will move Forward towards the center of the field
        robot.DriveForward(mid);
        sleep(900);
        robot.StopAllWheelMotors();
        sleep(50);

        //Horus will Strafe Right towards under the Alliance Bridge
        robot.StrafeRight(mid);
        sleep(1700);
        robot.StopAllWheelMotors();
        sleep(50);

    }

}