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  1. /* Copyright (c) 2017 FIRST. All rights reserved.
  2.  *
  3.  * Redistribution and use in source and binary forms, with or without modification,
  4.  * are permitted (subject to the limitations in the disclaimer below) provided that
  5.  * the following conditions are met:
  6.  *
  7.  * Redistributions of source code must retain the above copyright notice, this list
  8.  * of conditions and the following disclaimer.
  9.  *
  10.  * Redistributions in binary form must reproduce the above copyright notice, this
  11.  * list of conditions and the following disclaimer in the documentation and/or
  12.  * other materials provided with the distribution.
  13.  *
  14.  * Neither the name of FIRST nor the names of its contributors may be used to endorse or
  15.  * promote products derived from this software without specific prior written permission.
  16.  *
  17.  * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
  18.  * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19.  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
  20.  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  21.  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
  22.  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  23.  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  24.  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  25.  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  26.  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  27.  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  28.  */
  29.  
  30. package org.firstinspires.ftc.teamcode;
  31.  
  32. import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
  33. import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  34. import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  35. import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  36. import com.qualcomm.robotcore.hardware.DcMotor;
  37. import com.qualcomm.robotcore.hardware.DcMotorSimple;
  38. import com.qualcomm.robotcore.hardware.Servo;
  39. import com.qualcomm.robotcore.util.ElapsedTime;
  40. import com.qualcomm.robotcore.util.Range;
  41.  
  42.  
  43.  
  44.  
  45. @Autonomous(name="Autonomie", group="Linear Opmode")
  46. //@Disabled
  47. public class Autonomie extends LinearOpMode {
  48.  
  49.     // Declare OpMode members.
  50.     private ElapsedTime runtime = new ElapsedTime();
  51.  
  52.  
  53.     DcMotor MotorPrindere;
  54.  
  55.     DcMotor leftMotor;
  56.     DcMotor rightMotor;
  57.  
  58.     DcMotor MotorBrat;
  59.  
  60.     Servo ServoMarker;
  61.  
  62.  
  63.  
  64.  
  65.     double power = 1.0;
  66.     double lungime=0.0;
  67.  
  68.     @Override
  69.     public void runOpMode() {
  70.         telemetry.addData("Status", "Initialized");
  71.         telemetry.update();
  72.  
  73.         MotorPrindere=hardwareMap.dcMotor.get("Motor_Prindere");
  74.         leftMotor=hardwareMap.dcMotor.get("Left_Motor");
  75.         rightMotor=hardwareMap.dcMotor.get("Right_Motor");
  76.         ServoMarker=hardwareMap.servo.get("Servo_Marker");
  77.         MotorBrat=hardwareMap.dcMotor.get("Motor_Brat");
  78.         leftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
  79.  
  80.         waitForStart();
  81.         runtime.reset();
  82.  
  83.  
  84.  
  85.             MotorPrindere.setPower(-power);
  86.             sleep(2500);
  87.  
  88.             MotorPrindere.setPower(0.0);
  89.  
  90.  
  91.         leftMotor.setPower(-power);
  92.         rightMotor.setPower(-power);
  93.         sleep(70);
  94.  
  95.         leftMotor.setPower(0.0);
  96.         rightMotor.setPower(0.0);
  97.  
  98.         sleep(500);
  99.  
  100.         rightMotor.setPower(0.0);
  101.         leftMotor.setPower(power);
  102.  
  103.         sleep(1800);
  104.  
  105.         leftMotor.setPower(0.0);
  106.         rightMotor.setPower(0.0);
  107.         sleep(500);
  108.  
  109.         leftMotor.setPower(-power);
  110.         rightMotor.setPower(-power);
  111.         sleep(1000);
  112.  
  113.  
  114.         leftMotor.setPower(0.0);
  115.         rightMotor.setPower(0.0);
  116.         sleep(500);
  117.  
  118.         rightMotor.setPower(0.0);
  119.         leftMotor.setPower(power);
  120.         sleep(800);
  121.  
  122.         leftMotor.setPower(0.0);
  123.         rightMotor.setPower(0.0);
  124.  
  125.         leftMotor.setPower(-power);
  126.         rightMotor.setPower(-power);
  127.         sleep(85);
  128.  
  129.         leftMotor.setPower(0.0);
  130.         rightMotor.setPower(0.0);
  131.         sleep(500);
  132.  
  133.  
  134.         ServoMarker.setPosition(0.5);
  135.         sleep(500);
  136.         ServoMarker.setPosition(0.0);
  137.         sleep(500);
  138.  
  139.         leftMotor.setPower(0.0);
  140.         rightMotor.setPower(0.0);
  141.         sleep(500);
  142.  
  143.  
  144.         leftMotor.setPower(0.0);
  145.         rightMotor.setPower(power);
  146.         sleep(200);
  147.  
  148.         rightMotor.setPower(0.0);
  149.         leftMotor.setPower(0.0);
  150.         sleep(500);
  151.  
  152.         leftMotor.setPower(power);
  153.         rightMotor.setPower(power);
  154.         sleep(1700);
  155.  
  156.         leftMotor.setPower(0.0);
  157.         rightMotor.setPower(0.0);
  158.         sleep(500);
  159.  
  160.         MotorBrat.setPower(power);
  161.         sleep(1500);
  162.  
  163.         MotorBrat.setPower(0.0);
  164.         sleep(500);
  165.  
  166.         while (opModeIsActive()) {
  167.             telemetry.addData("Status", "Run Time: " + runtime.toString());
  168.             telemetry.update();
  169.         }
  170.  
  171.  
  172.     }
  173. }
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