EcoGolfer Code

Robot Autonomous Code Generator (python)
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# request dimensions from user
try:
    length = float(input("Please enter length of patrol zone in feet: "))
# return error if not give a number
except ValueError:
    print("Invalid input, please enter a number.")
if length != 0:
    width = float(input("Please enter width of patrol zone in feet: "))
# multiply length in feet by 400 to give us motor steps needed to go that distance
length_steps = length * 400
# convert that float to a string
length_steps_string = str(length_steps)
# multiply width by 400 then divide by 467 to give us the number of cycles needed to cover the entire area
width_steps = width * 400 / 467
# round this number to the closest one to ensure we can use it for our loop
round_width_steps = round(width_steps)
# convert this number to a string
width_steps_string = str(round_width_steps)
# template robot code to use parameters, works for all rectrangular areas
template_code = ' \n \n Here is your generated code: \n \n package org.firstinspires.ftc.teamcode; \n \n import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; \n import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; \n import com.qualcomm.robotcore.eventloop.opmode.TeleOp;\n import com.qualcomm.robotcore.hardware.DcMotor; \n import com.qualcomm.robotcore.hardware.IMU; \n import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; \n import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; \n import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; \n import org.firstinspires.ftc.robotcore.external.navigation.Orientation; \n @TeleOp(name = "RealPatrolAutoEx (Blocks to Java)") \n public class RealPatrolAutoEx extends LinearOpMode { \n private IMU imu_IMU; \n private DcMotor frontRight; \n private DcMotor backRight; \n private DcMotor leftRear; \n private DcMotor leftFront; \n  \n @Override \n public void runOpMode() { \n imu_IMU = hardwareMap.get(IMU.class, "imu"); \n frontRight = hardwareMap.get(DcMotor.class, "frontRight"); \n Intake = hardwareMap.get(DcMotor.class. "Intake"); \n backRight = hardwareMap.get(DcMotor.class, "backRight");  \n leftRear = hardwareMap.get(DcMotor.class, "leftRear");  \n leftFront = hardwareMap.get(DcMotor.class, "leftFront");  \n  \n waitForStart(); \n  \n if (opModeIsActive()) { \n for (int count = 0; count < times; count++) {  \n telemetry.update();  \n for(;;) { \n Intake.setPower(0.4) \n } \n frontRight.setMode(DcMotor.RunMode.RUN_USING_ENCODER); \n frontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); \n frontRight.setTargetPosition(length); \n while (!(frontRight.getCurrentPosition() >= frontRight.getTargetPosition())) { \n backRight.setPower(0.5); \n frontRight.setPower(0.5); \n leftRear.setPower(-0.5); \n leftFront.setPower(-0.5); \n } \n leftRear.setPower(0); \n leftFront.setPower(0); \n backRight.setPower(0); \n  frontRight.setPower(0);  \n frontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); \n while (!(IMU.getAxisX == 90)) { \n leftFront.setPower(1); \n frontRight.setPower(-1); \n leftRear.setPower(1); \n backRight.setPower(-1); \n sleep(1000); \n leftFront.setPower(1); \n frontRight.setPower(1); \n leftRear.setPower(1); \n backRight.setPower(1); \n sleep(1000); \n leftFront.setPower(-1); \n frontRight.setPower(-1); \n leftRear.setPower(-1); \n backRight.setPower(-1); \n sleep(1000); \n } \n leftRear.setPower(0); \n leftFront.setPower(0); \n backRight.setPower(0); \n frontRight.setPower(0); \n frontRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); \n frontRight.setTargetPosition(467); \n while (!(frontRight.getCurrentPosition() >= frontRight.getTargetPosition())) { \n backRight.setPower(0.5); \n frontRight.setPower(0.5); \n leftRear.setPower(-0.5); \n leftFront.setPower(-0.5); \n } \n IMU.GetAxisX = 0; \n while (!(IMU.GetAxisX == 90)) { \n leftFront.setPower(1); \n frontRight.setPower(-1); \n leftRear.setPower(1); \n backRight.setPower(-1); \n sleep(1000); \n leftFront.setPower(1); \n frontRight.setPower(1); \n leftRear.setPower(1); \n backRight.setPower(1); \n sleep(1000); \n leftFront.setPower(-1); \n frontRight.setPower(-1); \n leftRear.setPower(-1); \n backRight.setPower(-1); \n sleep(1000); \n } \n backRight.setPower(0); \n frontRight.setPower(0); \n leftRear.setPower(0); \n leftFront.setPower(0); \n } \n } \n } \n } \n '
# add our parameters to the code
length_code = template_code.replace("length", length_steps_string)
final_code = length_code.replace("times", width_steps_string)
# print the final product
print(final_code)
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Robot Tele-Op Mode (java)
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//import packages and modules
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

@TeleOp(name = "TH EcoGolfer Tele-Op")
public class noomnitank extends LinearOpMode {
//configure motors
  private DcMotor leftRear;
  private DcMotor leftFront;
  private DcMotor LeftIntake;
  private DcMotor RightIntake;
  private DcMotor frontRight;
  private DcMotor backRight;


  @Override
  public void runOpMode() {
    leftRear = hardwareMap.get(DcMotor.class, "leftRear");
    leftFront = hardwareMap.get(DcMotor.class, "leftFront");
    LeftIntake = hardwareMap.get(DcMotor.class, "LeftIntake");
    RightIntake = hardwareMap.get(DcMotor.class, "RightIntake");
    frontRight = hardwareMap.get(DcMotor.class, "frontRight");
    backRight = hardwareMap.get(DcMotor.class, "backRight");

// reverse left motors
    leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
    leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
    waitForStart();
    if (opModeIsActive())
      while (opModeIsActive()) {
//turn on intake motors
        if (opModeIsActive()) {
          LeftIntake.setPower(0.4);
          RightIntake.setPower(-0.4);
        }
//if stick up, go forward
        if (gamepad2.left_stick_y > 0.1) {
          leftFront.setPower(-1);
          frontRight.setPower(-1);
          leftRear.setPower(-1);
          backRight.setPower(-1);
        } else {
//if stick down, go backward
          if (gamepad2.left_stick_y < -0.1) {
            leftFront.setPower(1);
            frontRight.setPower(1);
            leftRear.setPower(1);
            backRight.setPower(1);
          } else {
//if stick right, turn right
            if (gamepad2.left_stick_x > 0.1) {
              for (int count = 0; count < 1; count++) {
                leftFront.setPower(1);
                frontRight.setPower(-1);
                leftRear.setPower(1);
                backRight.setPower(-1);
              }
            } else {
//if stick left, turn left
              } else {
                if (gamepad2.left_stick_x < -0.1) {
                  leftFront.setPower(-1);
                  frontRight.setPower(1);
                  leftRear.setPower(-1);
                  backRight.setPower(1);
//if no direction is being held, stop the drive mototrs
                } else {
                  leftFront.setPower(0);
                  frontRight.setPower(0);
                  leftRear.setPower(0);
                  backRight.setPower(0);
                }
              }
            }
          }
        }
      }
    }
  }
}