Merge pull request #84 from rh-robotics/teo-teleop-updates

TeleOp Changes & RobotComponents Update to include servos
rh-robotics · Feb 1, 2024 · 61363ac · 61363ac
2 parents 36ca854 + 1d5a693
commit 61363ac
Show file tree

Hide file tree

Showing 13 changed files with 174 additions and 349 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/OdometryAutonomousLeft.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/OdometryAutonomousLeft.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/OdometryAutonomousRight.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/OdometryAutonomousRight.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/SimpleParkAuton.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/SimpleParkAuton.java
@@ -1,7 +1,5 @@
 package org.firstinspires.ftc.teamcode.auton;
 
-import static java.lang.Thread.sleep;
-
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
@@ -10,7 +8,7 @@
 /**
  * Main Autonomous OpMode for the robot
  */
-@Autonomous (name = "Sleepy")
+@Autonomous(name = "Sleepy")
 public class SimpleParkAuton extends OpMode {
     HWC robot;
     String color = "red";
@@ -36,8 +34,11 @@ public void init() {
     @Override
     public void init_loop() {
         if (robot.currentGamepad1.a && !robot.previousGamepad1.a) {
-            if (color.equals("red")) { color = "blue"; }
-            else if (color.equals("blue")) { color = "red"; }
+            if (color.equals("red")) {
+                color = "blue";
+            } else if (color.equals("blue")) {
+                color = "red";
+            }
         }
 
         telemetry.addData("Status", "Initialized");
@@ -49,7 +50,7 @@ public void init_loop() {
     public void start() {
         robot.betterSleep(10000);
 
-        if(color.equals("red")) {
+        if (color.equals("red")) {
             robot.leftFront.setPower(-2);
             robot.leftRear.setPower(2);
             robot.rightFront.setPower(-2);

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/SlidesUpDown.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/SlidesUpDown.java
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.auton;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.subsystems.HWC;
+
+@Autonomous
+public class SlidesUpDown extends LinearOpMode {
+    HWC robot;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new HWC(hardwareMap, telemetry);
+
+        waitForStart();
+        while (opModeIsActive()) {
+
+            robot.powerSlides(1);
+            robot.betterSleep(1750);
+            robot.powerSlides(-1);
+            robot.betterSleep(1750);
+        }
+    }
+}