auto programs that are all park

ftc13100 · Nov 19, 2024 · 60406d9 · 60406d9
1 parent 67e6e9e
commit 60406d9
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diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket1.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket1.kt
@@ -15,7 +15,7 @@ object BlueHighBasket1 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
                     .turn((90.0).toRadians())

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket2.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket2.kt
@@ -15,7 +15,7 @@ object BlueHighBasket2 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
                     .turn((90.0).toRadians())

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber1.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber1.kt
@@ -15,7 +15,7 @@ object BlueHighChamber1 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
                     .forward(28.0)

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber2.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber2.kt
@@ -15,7 +15,7 @@ object BlueHighChamber2 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
                     .forward(28.0)

diff --git a/...lanning/blue/park/BlueParkObservation1.kt → ...ning/blue/park/BlueParkObservationLeft.kt b/...lanning/blue/park/BlueParkObservation1.kt → ...ning/blue/park/BlueParkObservationLeft.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object BlueParkObservation1 {
+object BlueParkObservationLeft {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
                     .strafeRight(48.0)

diff --git a/...lanning/blue/park/BlueParkObservation2.kt → ...ing/blue/park/BlueParkObservationRight.kt b/...lanning/blue/park/BlueParkObservation2.kt → ...ing/blue/park/BlueParkObservationRight.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object BlueParkObservation2 {
+object BlueParkObservationRight {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
                     .strafeRight(72.0)

diff --git a/...g/blue/park/BlueParkTouchSubmmersible1.kt → ...lue/park/BlueParkTouchSubmmersibleLeft.kt b/...g/blue/park/BlueParkTouchSubmmersible1.kt → ...lue/park/BlueParkTouchSubmmersibleLeft.kt
@@ -9,14 +9,14 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object BlueParkTouchSubmmersible1 {
+object BlueParkTouchSubmmersibleLeft {
 
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
                     .forward(27.0)

diff --git a/...g/blue/park/BlueParkTouchSubmmersible2.kt → ...ue/park/BlueParkTouchSubmmersibleRight.kt b/...g/blue/park/BlueParkTouchSubmmersible2.kt → ...ue/park/BlueParkTouchSubmmersibleRight.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object BlueParkTouchSubmmersible2 {
+object BlueParkTouchSubmmersibleRight {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
                     .forward(27.0)

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/red/basket/RedHighBasket1.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/red/basket/RedHighBasket1.kt
@@ -15,7 +15,7 @@ object RedHighBasket1 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
                     .turn((90.0).toRadians())

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/red/basket/RedHighBasket2.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/red/basket/RedHighBasket2.kt
@@ -15,7 +15,7 @@ object RedHighBasket2 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
                     .turn((90.0).toRadians())

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/red/chamber/RedHighChamber1.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/red/chamber/RedHighChamber1.kt
@@ -15,7 +15,7 @@ object RedHighChamber1 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
                     .forward(28.0)

diff --git a/PathPlanning/src/main/kotlin/com/example/pathplanning/red/chamber/RedHighChamber2.kt b/PathPlanning/src/main/kotlin/com/example/pathplanning/red/chamber/RedHighChamber2.kt
@@ -15,7 +15,7 @@ object RedHighChamber2 {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
                     .forward(28.0)

diff --git a/...hplanning/red/park/RedParkObservation1.kt → ...anning/red/park/RedParkObservationLeft.kt b/...hplanning/red/park/RedParkObservation1.kt → ...anning/red/park/RedParkObservationLeft.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object RedParkObservation1 {
+object RedParkObservationLeft {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
                     .strafeRight(72.0)

diff --git a/...hplanning/red/park/RedParkObservation2.kt → ...nning/red/park/RedParkObservationRight.kt b/...hplanning/red/park/RedParkObservation2.kt → ...nning/red/park/RedParkObservationRight.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object RedParkObservation2 {
+object RedParkObservationRight {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
                     .strafeRight(48.0)

diff --git a/...ing/red/park/RedParkTouchSubmmersible1.kt → .../red/park/RedParkTouchSubmmersibleLeft.kt b/...ing/red/park/RedParkTouchSubmmersible1.kt → .../red/park/RedParkTouchSubmmersibleLeft.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object RedParkTouchSubmmersible1 {
+object RedParkTouchSubmmersibleLeft {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
                     .forward(27.0)

diff --git a/...ing/red/park/RedParkTouchSubmmersible2.kt → ...red/park/RedParkTouchSubmmersibleRight.kt b/...ing/red/park/RedParkTouchSubmmersible2.kt → ...red/park/RedParkTouchSubmmersibleRight.kt
@@ -9,13 +9,13 @@ import java.io.File
 import java.io.IOException
 import javax.imageio.ImageIO
 
-object RedParkTouchSubmmersible2 {
+object RedParkTouchSubmmersibleRight {
     @JvmStatic
     fun main(args: Array<String>) {
         val meepMeep = MeepMeep(800)
 
         val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
-            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94)
             .followTrajectorySequence { drive ->
                 drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
                     .forward(27.0)

diff --git a/...auto/blue/park/BlueParkObservationLeft.kt → ...blue/park/left/BlueParkObservationLeft.kt b/...auto/blue/park/BlueParkObservationLeft.kt → ...blue/park/left/BlueParkObservationLeft.kt
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.opModes.auto.blue.park
+package org.firstinspires.ftc.teamcode.opModes.auto.blue.park.left
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous
 import com.qualcomm.robotcore.eventloop.opmode.OpMode

diff --git a/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/left/BlueParkSubmmersibleLeft.kt b/...in/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/left/BlueParkSubmmersibleLeft.kt
@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.blue.park.left
+
+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 (Submmersible) Left", group = "Submmersible", preselectTeleOp = "MainTeleOp")
+class BlueParkSubmmersibleLeft: OpMode() {
+
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_LEFT.startPose)
+            .forward(27.0)
+            .strafeLeft(48.0)
+            .forward(24.0)
+            .strafeRight(12.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}
diff --git a/...n/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/right/BlueParkObservationRight.kt b/...n/org/firstinspires/ftc/teamcode/opModes/auto/blue/park/right/BlueParkObservationRight.kt
@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.blue.park.right
+
+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) Right", group = "Observation", preselectTeleOp = "MainTeleOp")
+class BlueParkObservationRight: OpMode() {
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose)
+            .strafeRight(72.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}
diff --git a/.../org/firstinspires/ftc/teamcode/opModes/auto/blue/park/right/BlueParkSubmmersibleRight.kt b/.../org/firstinspires/ftc/teamcode/opModes/auto/blue/park/right/BlueParkSubmmersibleRight.kt
@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.blue.park.right
+
+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 (Submmersible) Right", group = "Submmersible", preselectTeleOp = "MainTeleOp")
+class BlueParkSubmmersibleRight: OpMode() {
+
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.BLUE_RIGHT.startPose)
+            .forward(27.0)
+            .strafeLeft(24.0)
+            .forward(24.0)
+            .strafeRight(12.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}
diff --git a/...otlin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/left/RedParkObservationLeft.kt b/...otlin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/left/RedParkObservationLeft.kt
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.red.park.left
+
+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 = "Red Park (Observation) Left", group = "Observation", preselectTeleOp = "MainTeleOp")
+class RedParkObservationLeft: OpMode() {
+
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_LEFT.startPose)
+            .strafeRight(72.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}
diff --git a/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/left/RedParkSubmmersibleLeft.kt b/...tlin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/left/RedParkSubmmersibleLeft.kt
@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.red.park.left
+
+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 = "Red Park (Submmersible) Left", group = "Submmersible", preselectTeleOp = "MainTeleOp")
+class RedParkSubmmersibleLeft: OpMode() {
+
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_LEFT.startPose)
+            .forward(27.0)
+            .strafeLeft(24.0)
+            .forward(24.0)
+            .strafeRight(12.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}
diff --git a/...lin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/right/RedParkObservationRight.kt b/...lin/org/firstinspires/ftc/teamcode/opModes/auto/red/park/right/RedParkObservationRight.kt
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.opModes.auto.red.park.right
+
+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 = "Red Park (Observation) Right", group = "Observation", preselectTeleOp = "MainTeleOp")
+class RedParkObservationRight: OpMode() {
+
+    private lateinit var driveSubsystem: DriveSubsystem
+
+    override fun init() {
+        driveSubsystem = DriveSubsystem(hardwareMap)
+
+        val trajectory = driveSubsystem.trajectorySequenceBuilder(AutoStartPose.RED_RIGHT.startPose)
+            .strafeRight(48.0)
+            .build()
+
+        driveSubsystem.followTrajectorySequenceAsync(trajectory)
+    }
+
+    override fun loop() {
+        driveSubsystem.update()
+    }
+}