164 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/left_angled.java
View file
@@ -60,7 +60,7 @@ public class left_angled extends LinearOpMode {
private ElapsedTime runtime = new ElapsedTime();
NeilPushbot robot = new NeilPushbot();
double pushingRight = 1;
double pushingLeft = .3;
double pushingLeft = .3;
boolean right = false;
boolean angled = true;
boolean blue = false;
@@ -78,7 +78,7 @@ public void runOpMode() {
robot.gyro.calibrate();

// make sure the gyro is calibrated.
while (!isStopRequested() && robot.gyro.isCalibrating()) {
while (!isStopRequested() && robot.gyro.isCalibrating()) {
sleep(50);
idle();
}
@@ -104,34 +104,25 @@ public void runOpMode() {
//driveUntilB(15);
fire();
fire();
if (angled)
{
if (right)
{
if (angled) {
if (right) {
turnDegrees(3);
driveUntilF((8));
turnDegrees(-3);
}
else
{
} else {
turnDegrees(-3);
driveUntilF(8);
turnDegrees(3);
}
}
else
{
} else {
driveUntilF(8);
}
// turnRUntil(90);
// driveUntilF(5);
if (blue)
{
if (blue) {

MakingThingBlue();
}
else
{
} else {
MakingThingRed();
}

@@ -147,10 +138,10 @@ public void runOpMode() {
idle();
}
}
private void turnRUntil(int headingChange)
{
robot.right_motor.setPower(0);
robot.left_motor.setPower(.5);

private void turnRUntil(int headingChange) {
// robot.right_motor.setPower(0);
//robot.left_motor.setPower(.5);
robot.gyro.resetZAxisIntegrator();
// get the x, y, and z values (rate of change of angle).

@@ -159,18 +150,17 @@ private void turnRUntil(int headingChange)
// the Modern Robotics' gyro sensor keeps
// track of the current heading for the Z axis only.
double heading = robot.gyro.getHeading();
double angleZ = robot.gyro.getIntegratedZValue();
while(robot.gyro.getHeading() - heading < headingChange)
{
double angleZ = robot.gyro.getIntegratedZValue();
while (robot.gyro.getHeading() - heading < headingChange) {
sleep(10);
idle();
}
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);

}
private void driveUntilF(int distanceNeeded)
{

private void driveUntilF(int distanceNeeded) {
double odsReadingRaw;
double odsReadingLinear;
double distanceFromWall = distanceNeeded;
@@ -183,7 +173,7 @@ private void driveUntilF(int distanceNeeded)
double[] pastReadings = new double[5];
odsReadingRaw = robot.frontUSensor.getRawLightDetected();
odsReadingLinear = Math.pow(odsReadingRaw, -0.5);
while((average > distanceFromWall+ 1) && sensorDifference < 100) {
while ((average > distanceFromWall + 1) && sensorDifference < 100) {
if (counter < 5) {
counter++;
}
@@ -198,11 +188,11 @@ private void driveUntilF(int distanceNeeded)
}
average = (totalReads / counter);
if (average > distanceFromWall + 1) {
robot.right_motor.setPower(maxSpeed);
robot.left_motor.setPower(maxSpeed);
// robot.right_motor.setPower(maxSpeed);
//robot.left_motor.setPower(maxSpeed);
} else {
robot.right_motor.setPower(average - distanceFromWall);
robot.left_motor.setPower(average - distanceFromWall);
// robot.right_motor.setPower(average - distanceFromWall);
//robot.left_motor.setPower(average - distanceFromWall);
}
temporaryDifference = robot.right_color_sensor.red() - robot.left_color_sensor.red();
sensorDifference = Math.abs(temporaryDifference);
@@ -211,24 +201,22 @@ private void driveUntilF(int distanceNeeded)
}

}
private void turnDegrees(int degrees)
{

private void turnDegrees(int degrees) {
float initialDegree = robot.gyro.getHeading();
if (degrees > 0) {
while (robot.gyro.getHeading() - initialDegree < degrees) {
robot.right_motor.setPower(.05);
//robot.right_motor.setPower(.05);
}
}
else
{
while (initialDegree - robot.gyro.getHeading() < Math.abs(degrees))
{
robot.left_motor.setPower(.05);
} else {
while (initialDegree - robot.gyro.getHeading() < Math.abs(degrees)) {
// robot.left_motor.setPower(.05);
}
robot.right_motor.setPower(0);
// robot.right_motor.setPower(0);
}
robot.left_motor.setPower(0);
// robot.left_motor.setPower(0);
}

// private void driveUntilB(int distanceNeeded)
// {
// robot.left_motor.setPower(1);
@@ -242,71 +230,67 @@ private void turnDegrees(int degrees)
// robot.right_motor.setPower(0);
// }
// This code checks what side
private void MakingThingRed()
{
private void MakingThingRed() {
int surelyRed = 1400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red())
{
robot.button_pusher.setPosition(pushingRight);
if (robot.right_color_sensor.red() > robot.left_color_sensor.red()) {
// robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
// robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
///robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
}
else
{
robot.button_pusher.setPosition(pushingLeft);
// robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
} else {
//robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}

// This code checks what side
private void MakingThingBlue() {
int surelyBlue = 400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red()) {
robot.button_pusher.setPosition(pushingLeft);
//robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
} else {
robot.button_pusher.setPosition(pushingRight);
//robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}
private void fire()
{
for(int i =0; i < 1; i+=.01)
{

private void fire() {
for (int i = 0; i < 1; i += .01) {

robot.right_balllauncher.setPower(i);
sleep(15);
@@ -316,10 +300,10 @@ private void fire()
robot.ball_feeder.setPosition(90);
robot.right_balllauncher.setPower(0);
}
private double takeRead(int ForB)
{
if(ForB == 1) {
if (robot.backUSensor.signalDetected()) {
}
//private double takeRead(int ForB) {
//if (ForB == 1) {
/*if (robot.backUSensor.signalDetected()) {
// Display angle and strength
telemetry.addData("Angle", robot.backUSensor.getAngle());
telemetry.addData("Strength", robot.backUSensor.getStrength());
@@ -341,6 +325,6 @@ private double takeRead(int ForB)
}
else{
throw (new IllegalArgumentException());
}
}
}
}*/
//}

84 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/left_straight.java
View file
@@ -149,8 +149,8 @@ public void runOpMode() {
}
private void turnRUntil(int headingChange)
{
robot.right_motor.setPower(0);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(0);
// robot.left_motor.setPower(.5);
robot.gyro.resetZAxisIntegrator();
// get the x, y, and z values (rate of change of angle).

@@ -165,8 +165,8 @@ private void turnRUntil(int headingChange)
sleep(10);
idle();
}
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
// robot.left_motor.setPower(0);
// robot.right_motor.setPower(0);

}
private void driveUntilF(int distanceNeeded)
@@ -198,11 +198,11 @@ private void driveUntilF(int distanceNeeded)
}
average = (totalReads / counter);
if (average > distanceFromWall + 1) {
robot.right_motor.setPower(maxSpeed);
robot.left_motor.setPower(maxSpeed);
// robot.right_motor.setPower(maxSpeed);
// robot.left_motor.setPower(maxSpeed);
} else {
robot.right_motor.setPower(average - distanceFromWall);
robot.left_motor.setPower(average - distanceFromWall);
// robot.right_motor.setPower(average - distanceFromWall);
// robot.left_motor.setPower(average - distanceFromWall);
}
temporaryDifference = robot.right_color_sensor.red() - robot.left_color_sensor.red();
sensorDifference = Math.abs(temporaryDifference);
@@ -216,18 +216,18 @@ private void turnDegrees(int degrees)
float initialDegree = robot.gyro.getHeading();
if (degrees > 0) {
while (robot.gyro.getHeading() - initialDegree < degrees) {
robot.right_motor.setPower(.05);
//robot.right_motor.setPower(.05);
}
}
else
{
while (initialDegree - robot.gyro.getHeading() < Math.abs(degrees))
{
robot.left_motor.setPower(.05);
// robot.left_motor.setPower(.05);
}
robot.right_motor.setPower(0);
// robot.right_motor.setPower(0);
}
robot.left_motor.setPower(0);
//robot.left_motor.setPower(0);
}
// private void driveUntilB(int distanceNeeded)
// {
@@ -247,60 +247,60 @@ private void MakingThingRed()
int surelyRed = 1400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red())
{
robot.button_pusher.setPosition(pushingRight);
//robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
else
{
robot.button_pusher.setPosition(pushingLeft);
//robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
//robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}
// This code checks what side
private void MakingThingBlue() {
int surelyBlue = 400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red()) {
robot.button_pusher.setPosition(pushingLeft);
//robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
// robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
// robot.right_motor.setPower(0);
} else {
robot.button_pusher.setPosition(pushingRight);
// robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
// robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}
private void fire()
@@ -316,7 +316,7 @@ private void fire()
robot.ball_feeder.setPosition(90);
robot.right_balllauncher.setPower(0);
}
private double takeRead(int ForB)
/* private double takeRead(int ForB)
{
if(ForB == 1) {
if (robot.backUSensor.signalDetected()) {
@@ -342,5 +342,5 @@ private double takeRead(int ForB)
else{
throw (new IllegalArgumentException());
}
}
}*/
}
38 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/right_angled.java
View file
@@ -102,8 +102,8 @@ public void runOpMode() {
waitForStart();
runtime.reset();
//driveUntilB(15);
fire();
fire();
//fire();
//fire();
if (angled)
{
if (right)
@@ -128,11 +128,11 @@ public void runOpMode() {
if (blue)
{

MakingThingBlue();
// MakingThingBlue();
}
else
{
MakingThingRed();
// MakingThingRed();
}


@@ -149,9 +149,9 @@ public void runOpMode() {
}
private void turnRUntil(int headingChange)
{
robot.right_motor.setPower(0);
robot.left_motor.setPower(.5);
robot.gyro.resetZAxisIntegrator();
// robot.right_motor.setPower(0);
//robot.left_motor.setPower(.5);
//robot.gyro.resetZAxisIntegrator();
// get the x, y, and z values (rate of change of angle).


@@ -165,8 +165,8 @@ private void turnRUntil(int headingChange)
sleep(10);
idle();
}
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
// robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);

}
private void driveUntilF(int distanceNeeded)
@@ -198,11 +198,11 @@ private void driveUntilF(int distanceNeeded)
}
average = (totalReads / counter);
if (average > distanceFromWall + 1) {
robot.right_motor.setPower(maxSpeed);
robot.left_motor.setPower(maxSpeed);
// robot.right_motor.setPower(maxSpeed);
// robot.left_motor.setPower(maxSpeed);
} else {
robot.right_motor.setPower(average - distanceFromWall);
robot.left_motor.setPower(average - distanceFromWall);
// robot.right_motor.setPower(average - distanceFromWall);
// robot.left_motor.setPower(average - distanceFromWall);
}
temporaryDifference = robot.right_color_sensor.red() - robot.left_color_sensor.red();
sensorDifference = Math.abs(temporaryDifference);
@@ -216,18 +216,18 @@ private void turnDegrees(int degrees)
float initialDegree = robot.gyro.getHeading();
if (degrees > 0) {
while (robot.gyro.getHeading() - initialDegree < degrees) {
robot.right_motor.setPower(.05);
// robot.right_motor.setPower(.05);
}
}
else
{
while (initialDegree - robot.gyro.getHeading() < Math.abs(degrees))
{
robot.left_motor.setPower(.05);
// robot.left_motor.setPower(.05);
}
robot.right_motor.setPower(0);
//robot.right_motor.setPower(0);
}
robot.left_motor.setPower(0);
// robot.left_motor.setPower(0);
}
// private void driveUntilB(int distanceNeeded)
// {
@@ -242,7 +242,7 @@ private void turnDegrees(int degrees)
// robot.right_motor.setPower(0);
// }
// This code checks what side
private void MakingThingRed()
/* private void MakingThingRed()
{
int surelyRed = 1400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red())
@@ -342,5 +342,5 @@ private double takeRead(int ForB)
else{
throw (new IllegalArgumentException());
}
}
}*/
}
96 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/right_straight.java
View file
@@ -149,8 +149,8 @@ public void runOpMode() {
}
private void turnRUntil(int headingChange)
{
robot.right_motor.setPower(0);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(0);
// robot.left_motor.setPower(.5);
robot.gyro.resetZAxisIntegrator();
// get the x, y, and z values (rate of change of angle).

@@ -165,8 +165,8 @@ private void turnRUntil(int headingChange)
sleep(10);
idle();
}
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);

}
private void driveUntilF(int distanceNeeded)
@@ -198,11 +198,11 @@ private void driveUntilF(int distanceNeeded)
}
average = (totalReads / counter);
if (average > distanceFromWall + 1) {
robot.right_motor.setPower(maxSpeed);
robot.left_motor.setPower(maxSpeed);
// robot.right_motor.setPower(maxSpeed);
// robot.left_motor.setPower(maxSpeed);
} else {
robot.right_motor.setPower(average - distanceFromWall);
robot.left_motor.setPower(average - distanceFromWall);
// robot.right_motor.setPower(average - distanceFromWall);
// robot.left_motor.setPower(average - distanceFromWall);
}
temporaryDifference = robot.right_color_sensor.red() - robot.left_color_sensor.red();
sensorDifference = Math.abs(temporaryDifference);
@@ -216,91 +216,91 @@ private void turnDegrees(int degrees)
float initialDegree = robot.gyro.getHeading();
if (degrees > 0) {
while (robot.gyro.getHeading() - initialDegree < degrees) {
robot.right_motor.setPower(.05);
// robot.right_motor.setPower(.05);
}
}
else
{
while (initialDegree - robot.gyro.getHeading() < Math.abs(degrees))
{
robot.left_motor.setPower(.05);
// robot.left_motor.setPower(.05);
}
robot.right_motor.setPower(0);
// robot.right_motor.setPower(0);
}
robot.left_motor.setPower(0);
// robot.left_motor.setPower(0);
}
private void driveUntilB(int distanceNeeded)
{
robot.left_motor.setPower(1);
robot.right_motor.setPower(1);
while(takeRead(0) < distanceNeeded)
// robot.left_motor.setPower(1);
// robot.right_motor.setPower(1);
/* while(takeRead(0) < distanceNeeded)
{
sleep(30);
idle();
}
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
}*/
// robot.left_motor.setPower(0);
// robot.right_motor.setPower(0);
}
// This code checks what side
private void MakingThingRed()
{
int surelyRed = 1400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red())
{
robot.button_pusher.setPosition(pushingRight);
//robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
//robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
else
{
robot.button_pusher.setPosition(pushingLeft);
//robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() < surelyRed) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
//robot.right_motor.setPower(.5);
//robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}
// This code checks what side
private void MakingThingBlue() {
int surelyBlue = 400;
if (robot.right_color_sensor.red() > robot.left_color_sensor.red()) {
robot.button_pusher.setPosition(pushingLeft);
// robot.button_pusher.setPosition(pushingLeft);
while (robot.right_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
// robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
} else {
robot.button_pusher.setPosition(pushingRight);
//robot.button_pusher.setPosition(pushingRight);
while (robot.left_color_sensor.red() > surelyBlue) {
robot.right_motor.setPower(.5);
robot.left_motor.setPower(.5);
// robot.right_motor.setPower(.5);
// robot.left_motor.setPower(.5);
sleep(10);
}
robot.right_motor.setPower(-.2);
robot.left_motor.setPower(-.2);
//robot.right_motor.setPower(-.2);
//robot.left_motor.setPower(-.2);
sleep(300);
robot.left_motor.setPower(0);
robot.right_motor.setPower(0);
//robot.left_motor.setPower(0);
//robot.right_motor.setPower(0);
}
}
private void fire()
@@ -316,7 +316,7 @@ private void fire()
robot.ball_feeder.setPosition(90);
robot.right_balllauncher.setPower(0);
}
private double takeRead(int ForB)
/* private double takeRead(int ForB)
{
if(ForB == 1) {
if (robot.backUSensor.signalDetected()) {
@@ -342,5 +342,5 @@ private double takeRead(int ForB)
else{
throw (new IllegalArgumentException());
}
}
}*/
}