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package org.firstinspires.ftc.teamcode.nerds9064;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
@TeleOp(name="Main Autonomous", group="Linear Opmode")
public class AutoOp extends LinearOpMode{
private DcMotor leftFront, leftBack, rightFront, rightBack, arm, gemArm;
private Servo servo1, servo2;
private ColorSensor gemSensor;
//private GemColorDetector sensor;
private final boolean test = false;
private final short position = 0;
private final boolean RobotBroken=true;
/*
position value meanings:
_____
|0 | 2|
Red| | |Blue
|1_|_3|
*/
public void runOpMode() throws InterruptedException{
Initialize();
waitForStart();
if(RobotBroken){
ForWhenRobotIsBroken();
return;
}
test();
noInputAuto();
}
private void noInputAuto()throws InterruptedException {
/*
TODO: List of Actions
x = pseudocode
o = tested and works
[x] Drop arm
[x] Sense gem color
[x] Turn robot to knock over correct gem
[x] Raise arm
[ ] TODO: Sense picture
[x] Drive to towers
[x] line up glyph
[x] insert glyph
[x] back up but stay in safe zone
TODO: End list
*/
//TODO: get the picture thing to work
right(0.5, 500);
gem();
if(position%2==0){
right(0.5,500);
}else{
right(0.5,500);
clockwise(0.5,500);
left(0.5,500);
}
glyph();
}
public void ForWhenRobotIsBroken() throws InterruptedException{
setServoPosition("servo1",servo1,0.55,true);
setServoPosition("servo2",servo2,0.45,true);
forward(0.5,1500);
setMotorPower("arm",arm, 0.5, true);
setServoPosition("servo1",servo1,0,true);
setServoPosition("servo2",servo2,1,true);
backward(0.5,300);
}
public void glyph() throws InterruptedException{
forward(0.5,100);
setServoPosition("servo1",servo1,0,false);
setServoPosition("servo2",servo2,250,false);
backward(0.5,100);
}
public void gem() throws InterruptedException{
setMotorPower("gemArm", gemArm, 0.5, true);
Thread.sleep(500);
setMotorPower("gemArm", gemArm, 0, true);
boolean blueOnLeft;
blueOnLeft=Math.random()>0.5;
//TODO: Put color sensor code here
if(blueOnLeft){
clockwise(0.1, 200);
countclock(0.1,200);
}else{
countclock(0.1,200);
clockwise(0.1, 200);
}
setMotorPower("gemArm", gemArm, -0.5, true);
Thread.sleep(500);
setMotorPower("gemArm", gemArm, 0, true);
}
public void test()throws InterruptedException{
forward(0.5,2000);
backward(0.5,2000);
left(0.5,2000);
right(0.5,2000);
clockwise(0.5,2000);
countclock(0.5,2000);
}
private void forward(double power, int time) throws InterruptedException{
setMotorPower("Left Front",leftFront,-power,true);
setMotorPower("Right Front",rightFront,power,true);
setMotorPower("Left Back",leftBack,-power,true);
setMotorPower("Right Back",rightBack,power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void backward(double power, int time) throws InterruptedException{
setMotorPower("Left Front",leftFront,power,true);
setMotorPower("Right Front",rightFront,-power,true);
setMotorPower("Left Back",leftBack,power,true);
setMotorPower("Right Back",rightBack,-power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void right(double power, int time) throws InterruptedException{
if(position<2)power*=-1;
setMotorPower("Left Front",leftFront,-power,true);
setMotorPower("Right Front",rightFront,-power,true);
setMotorPower("Left Back",leftBack,power,true);
setMotorPower("Right Back",rightBack,power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void left(double power, int time) throws InterruptedException{
if(position<2)power*=-1;
setMotorPower("Left Front",leftFront,power,true);
setMotorPower("Right Front",rightFront,power,true);
setMotorPower("Left Back",leftBack,-power,true);
setMotorPower("Right Back",rightBack,-power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void clockwise(double power, int time) throws InterruptedException{
if(position<2)power*=-1;
setMotorPower("Left Front",leftFront,-power,true);
setMotorPower("Right Front",rightFront,-power,true);
setMotorPower("Left Back",leftBack,-power,true);
setMotorPower("Right Back",rightBack,-power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void countclock(double power, int time) throws InterruptedException{
if(position<2)power*=-1;
setMotorPower("Left Front",leftFront,power,true);
setMotorPower("Right Front",rightFront,power,true);
setMotorPower("Left Back",leftBack,power,true);
setMotorPower("Right Back",rightBack,power,true);
Thread.sleep(time);
setMotorPower("Left Front",leftFront,0,true);
setMotorPower("Right Front",rightFront,0,true);
setMotorPower("Left Back",leftBack,0,true);
setMotorPower("Right Back",rightBack,0,true);
}
private void setMotorPower(String motorName, DcMotor motor, double power, boolean tel) {
if (tel)telemetry.addData(motorName + " power: ", "" + power);
if(test) {
}else{
motor.setPower(power);
}
}
private void setServoPosition(String servoName, Servo servo, double power, boolean tel){
if(tel)telemetry.addData(servoName+" position: ", ""+power);
if(test){
}else{
servo.setPosition(power);
}
}
private void Initialize(){
telemetry.addLine("Wait for camera to finish initializing!");
telemetry.update();
telemetry.addLine("Camera ready!");
telemetry.update();
if(test) { //Motors and Servos get set to null in testing mode so the phone doesn't try and look for them
leftFront = null;
rightFront = null;
leftBack = null;
rightBack = null;
arm = null;
gemArm = null;
servo1 = null;
servo2 = null;
gemSensor = null;
}else{
leftFront = hardwareMap.dcMotor.get("leftFront");
rightFront = hardwareMap.dcMotor.get("rightFront");
leftBack = hardwareMap.dcMotor.get("leftBack");
rightBack = hardwareMap.dcMotor.get("rightBack");
servo1=hardwareMap.servo.get("servo1");
servo2=hardwareMap.servo.get("servo2");
arm = hardwareMap.dcMotor.get("arm");
//gemArm = hardwareMap.dcMotor.get("gemArm");
//gemSensor = hardwareMap.colorSensor.get("gemSensor");
}
}
}