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MecanumAutoX.java
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MecanumAutoX.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Blinker;
import com.qualcomm.robotcore.hardware.Gyroscope;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
@TeleOp(name="Mecanum Auto III")
public class MecanumAutoX extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
// Reverse the right side motors
// Reverse left motors if you are using NeveRests
front_left.setDirection(DcMotor.Direction.REVERSE);
back_left.setDirection(DcMotor.Direction.REVERSE);
front_right.setDirection(DcMotor.Direction.REVERSE);
back_right.setDirection(DcMotor.Direction.REVERSE);
front_left.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
back_left.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
front_right.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
back_right.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
waitForStart();
forward(2000, 1);
}
private void strafeLeft(int time0, int speed0){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(-speed0);
front_right.setPower(speed0);
back_left.setPower(speed0);
back_right.setPower(-speed0);
sleep(time0);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void strafeRight(int time1, int speed1){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(speed1);
front_right.setPower(-speed1);
back_left.setPower(-speed1);
back_right.setPower(speed1);
sleep(time1);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void forward(int time2, int speed2){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(speed2);
front_right.setPower(speed2);
back_left.setPower(speed2);
back_right.setPower(speed2);
sleep(time2);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void backward(int time3, int speed3){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(-speed3);
front_right.setPower(-speed3);
back_left.setPower(-speed3);
back_right.setPower(-speed3);
sleep(time3);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void upLeft(int time4, int speed4){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_right.setPower(speed4);
back_left.setPower(speed4);
sleep(time4);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void upRight(int time5, int speed5){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(speed5);
back_right.setPower(speed5);
sleep(time5);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void downLeft(int time6, int speed6){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(-speed6);
back_right.setPower(-speed6);
sleep(time6);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void downRight(int time7, int speed7){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_right.setPower(-speed7);
back_left.setPower(-speed7);
sleep(time7);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void rotateLeft(int time8, int speed8){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(-speed8);
front_right.setPower(speed8);
back_left.setPower(-speed8);
back_right.setPower(speed8);
sleep(time8);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
private void rotateRight(int time9, int speed9){
DcMotor front_left = hardwareMap.dcMotor.get("front_left");
DcMotor back_left = hardwareMap.dcMotor.get("back_left");
DcMotor front_right = hardwareMap.dcMotor.get("front_right");
DcMotor back_right = hardwareMap.dcMotor.get("back_right");
front_left.setPower(speed9);
front_right.setPower(-speed9);
back_left.setPower(speed9);
back_right.setPower(-speed9);
sleep(time9);
front_left.setPower(0);
front_right.setPower(0);
back_left.setPower(0);
back_right.setPower(0);
}
}