numberGenerator

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.util.Random;


/**
 * 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 mode 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="Pushbot: Auto Drive By Encoder4", group="Pushbot")

public class RandomNumberGeneratorCode extends LinearOpMode {

    /* Declare OpMode members. */
    //HardwarePushbot robot   = new HardwarePushbot();   // Use a Pushbot's hardware
    private ElapsedTime runtime = new ElapsedTime();

    static final double COUNTS_PER_MOTOR_REV = 1440;    // eg: TETRIX Motor Encoder
    static final double DRIVE_GEAR_REDUCTION = 2.0;     // This is < 1.0 if geared UP
    static final double WHEEL_DIAMETER_INCHES = 4.0;     // For figuring circumference
    static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
            (WHEEL_DIAMETER_INCHES * 3.1415);
    static final double DRIVE_SPEED = 0.6;
    static final double TURN_SPEED = 0.5;
    final int min = 1;
    final int max = 3;
    final int random = new Random().nextInt(max - min);
    private DcMotor leftFront;
    private DcMotor rightFront;
    private DcMotor leftBack;
    private DcMotor rightBack;

    @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", "Resetting Encoders");    //
        telemetry.update();

        leftFront = hardwareMap.dcMotor.get("leftFront");
        rightFront = hardwareMap.dcMotor.get("rightFront");
        leftBack = hardwareMap.dcMotor.get("leftBack");
        rightBack = hardwareMap.dcMotor.get("rightBack");

        // Send telemetry message to indicate successful Encoder reset
        telemetry.addData("Path0", "Starting at %7d :%7d");


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

        // Step through each leg of the path,
        // Note: Reverse movement is obtained by setting a negative distance (not speed)
        //Generate Random Number and Store it in a variable
        final int random = new Random().nextInt(3) + 1;
        if (new Random().nextInt(3)+1 == 1){
            encoderDrive(0.8, 0.8,0.45, 1.5);  // S1: Forward 47 Inches with 5 Sec timeout
            // Stop all motion;
            leftFront.setPower(0);
            leftBack.setPower(0);
            rightFront.setPower(0);
            rightBack.setPower(0);
        }
        else if (new Random().nextInt(3)+1 == 2){
            encoderDrive2(0.8, 0.8,0.45, 2);  // S1: Forward 47 Inches with 5 Sec timeout
            // Stop all motion;
            leftFront.setPower(0);
            leftBack.setPower(0);
            rightFront.setPower(0);
            rightBack.setPower(0);
        }
        else if (new Random().nextInt(3)+1 == 3){
            encoderDrive3(0.8, 0.8,0.45, 3.0);  // S1: Forward 47 Inches with 5 Sec timeout
            // Stop all motion;
            leftFront.setPower(0);
            leftBack.setPower(0);
            rightFront.setPower(0);
            rightBack.setPower(0);
        }
        //call function
        //else if r == 2
        //call another function
        //else if r ==3
        //3rd function
        //encoderDrive3(0.8, 0.8,0.45, 3.0);  // S1: Forward 47 Inches with 5 Sec timeout
        //encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
        //encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout

        /*robot.leftClaw.setPosition(1.0);            // S4: Stop and close the claw
        robot.rightClaw.setPosition(0.0);
        sleep(1000);     // pause for servos to move*/

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

    /*
     *  Method to perform a relative move, based on encoder counts.
     *  Encoders are not reset as the move is based on the current position.
     *  Move will stop if any of three conditions occur:
     *  1) Move gets to the desired position
     *  2) Move runs out of time
     *  3) Driver stops the opmode running.
     */
    public void encoderDrive3(double speed1, double speed2, double timeoutSh, double timeSt) {

        // Ensure that the opmode is still active
        if (opModeIsActive()) {
            // reset the timeout time and start motion.
            runtime.reset();
            //Robot Goes straight for timeSt
            while (opModeIsActive() && (runtime.seconds() < timeSt)) {
                leftFront.setPower(speed2);
                leftBack.setPower(-speed2);
                rightFront.setPower(speed1);
                rightBack.setPower(-speed1);
            }
            //reset runtime
            runtime.reset();
            //Robot Shuffle  for timeoutSh
            while (opModeIsActive() && (runtime.seconds() < timeoutSh)) {

                leftFront.setPower(speed2);
                leftBack.setPower(speed2);
                rightFront.setPower(-speed1);
                rightBack.setPower(-speed1);

                telemetry.addData("Path2", "Running at %.3f ms %.3f", runtime.seconds(), speed1);
                telemetry.update();

            }


            //  sleep(250);   // optional pause after each move
        }
    }

    public void encoderDrive(double speed1, double speed2, double timeoutSh, double timeSt) {

        // Ensure that the opmode is still active
        if (opModeIsActive()) {
            // reset the timeout time and start motion.
            runtime.reset();
            //Robot Goes straight for timeSt
            while (opModeIsActive() && (runtime.seconds() < timeSt)) {
                leftFront.setPower(speed2);
                leftBack.setPower(-speed2);
                rightFront.setPower(speed1);
                rightBack.setPower(-speed1);
            }
            //reset runtime
            runtime.reset();
            //Robot Shuffle  for timeoutSh
            while (opModeIsActive() && (runtime.seconds() < timeoutSh)) {

                leftFront.setPower(speed2);
                leftBack.setPower(speed2);
                rightFront.setPower(-speed1);
                rightBack.setPower(-speed1);

                telemetry.addData("Path2", "Running at %.3f ms %.3f", runtime.seconds(), speed1);
                telemetry.update();

            }


            //  sleep(250);   // optional pause after each move
        }
    }
    public void encoderDrive2(double speed1, double speed2, double timeoutSh, double timeSt) {

        // Ensure that the opmode is still active
        if (opModeIsActive()) {
            // reset the timeout time and start motion.
            runtime.reset();
            //Robot Goes straight for timeSt
            while (opModeIsActive() && (runtime.seconds() < timeSt)) {
                leftFront.setPower(speed2);
                leftBack.setPower(-speed2);
                rightFront.setPower(speed1);
                rightBack.setPower(-speed1);
            }
            //reset runtime
            runtime.reset();
            //Robot Shuffle  for timeoutSh
            while (opModeIsActive() && (runtime.seconds() < timeoutSh)) {

                leftFront.setPower(-speed2);
                leftBack.setPower(-speed2);
                rightFront.setPower(speed1);
                rightBack.setPower(speed1);

                telemetry.addData("Path2", "Running at %.3f ms %.3f", runtime.seconds(), speed1);
                telemetry.update();

            }




            //  sleep(250);   // optional pause after each move
        }
    }
}