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PushbotAutoDriveByTime_Linear.java
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PushbotAutoDriveByTime_Linear.java
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/* Copyright (c) 2017 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.ElapsedTime;
/**
* This file illustrates the concept of driving a path based on time.
* It uses the common Pushbot hardware class to define the drive on the robot.
* The code is structured as a LinearOpMode
*
* The code assumes that you do NOT have encoders on the wheels,
* otherwise you would use: PushbotAutoDriveByEncoder;
*
* The desired path in this example is:
* - Drive forward for 3 seconds
* - Spin right for 1.3 seconds
* - Drive Backwards for 1 Second
* - Stop and close the claw.
*
* The code is written in a simple form with no optimizations.
* However, there are several ways that this type of sequence could be streamlined,
*
* 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="Pushbot: Auto Drive By Time", group="Pushbot")
@Disabled
public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
/* Declare OpMode members. */
HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware
private ElapsedTime runtime = new ElapsedTime();
static final double FORWARD_SPEED = 0.6;
static final double TURN_SPEED = 0.5;
@Override
public void runOpMode() {
/*
* Initialize the drive system 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("Status", "Ready to run"); //
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
// Step 1: Drive forward for 3 seconds
robot.leftDrive.setPower(FORWARD_SPEED);
robot.rightDrive.setPower(FORWARD_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 3.0)) {
telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 2: Spin right for 1.3 seconds
robot.leftDrive.setPower(TURN_SPEED);
robot.rightDrive.setPower(-TURN_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 1.3)) {
telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 3: Drive Backwards for 1 Second
robot.leftDrive.setPower(-FORWARD_SPEED);
robot.rightDrive.setPower(-FORWARD_SPEED);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() < 1.0)) {
telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds());
telemetry.update();
}
// Step 4: Stop and close the claw.
robot.leftDrive.setPower(0);
robot.rightDrive.setPower(0);
robot.leftClaw.setPosition(1.0);
robot.rightClaw.setPosition(0.0);
telemetry.addData("Path", "Complete");
telemetry.update();
sleep(1000);
}
}