Sample Blue Park

ftc13100 · Nov 17, 2024 · 16d35e4 · 16d35e4
1 parent 64574d1
commit 16d35e4
Showing 1 changed file with 25 additions and 0 deletions.
diff --git a/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/BlueParkObservationLeft.kt b/...n/kotlin/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/BlueParkObservationLeft.kt
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.blue.park
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import org.firstinspires.ftc.teamcode.constants.AutoStartPose
+import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
+
+@Autonomous(name = "Blue Park (Observation) Left", group = "Observation", preselectTeleOp = "MainTeleOp")
+class BlueParkObservationLeft : OpMode() {
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_LEFT.startPose)
+            .strafeRight(48.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}