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package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;
public class GooseTeleOp extends OpMode {
public DcMotorController c1;
public DcMotor leftMotor;
public DcMotor rightMotor;
public DcMotor shooter; //
public DcMotor collector; //
public DcMotor up;
public Servo arm; //
public static final double SHOOTER_POWER = 1;
public static final double COLLECTOR_POWER = 1;
double armPosition = 0;
long time;
public GooseTeleOp() {
}
@Override
public void init() {
c1 = hardwareMap.dcMotorController.get("c1");
leftMotor = hardwareMap.dcMotor.get("m2");
rightMotor = hardwareMap.dcMotor.get("m1");
shooter = hardwareMap.dcMotor.get("shooter");
collector = hardwareMap.dcMotor.get("collector");
arm = hardwareMap.servo.get("hand");
up = hardwareMap.dcMotor.get("up");
leftMotor.setDirection(DcMotor.Direction.REVERSE);
up.setDirection(DcMotor.Direction.REVERSE);
}
@Override
public void loop() {
//
float left = -gamepad1.left_stick_y;
float right = -gamepad1.right_stick_y;
left = Range.clip(left, -1, 1);
right = Range.clip(right, -1, 1);
//if(gamepad1.left_stick_y)
//time = System.currentTimeMillis();
if(gamepad1.left_trigger > 0.25 || gamepad1.right_trigger > 0.25) {
left = left / 3;
right = right / 3;
}
leftMotor.setPower(left);
rightMotor.setPower(right);
//
if (gamepad2.a)
collector.setPower(-COLLECTOR_POWER);
else
collector.setPower(0.0);
//
if (gamepad2.y)
shooter.setPower(-SHOOTER_POWER);
else
shooter.setPower(0.0);
float upper = -gamepad2.left_stick_y;
upper = Range.clip(upper, -1, 1);
if(gamepad2.left_trigger > 0.25 || gamepad2.right_trigger > 0.25) {
upper = upper / 3;
}
up.setPower(upper);
//
if (gamepad1.b && (armPosition <= 0.9)) { armPosition = armPosition + 0.05; arm.setPosition(armPosition); }
if (gamepad1.x && (armPosition >= 0.1)) { armPosition = armPosition - 0.05; arm.setPosition(armPosition); }
}
@Override
public void stop() {
}
}
:
package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.LightSensor;
import com.qualcomm.robotcore.hardware.UltrasonicSensor;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.Servo;
public class GooseAutonomous extends LinearOpMode {
DcMotorController c1;
DcMotor leftMotor;
DcMotor rightMotor;
DcMotor shooter;
LightSensor lightSensor;
UltrasonicSensor ultrasonicSensor;
ColorSensor sensorRGB;
Servo hand;
final static long TURN_RIGHT = 650;
long now;
@Override
public void runOpMode() throws InterruptedException {
lightSensor = hardwareMap.lightSensor.get("sensor_light");
lightSensor.enableLed(true);
ultrasonicSensor = hardwareMap.ultrasonicSensor.get("distance");
sensorRGB = hardwareMap.colorSensor.get("color");
c1 = hardwareMap.dcMotorController.get("c1");
leftMotor = hardwareMap.dcMotor.get("m2");
rightMotor = hardwareMap.dcMotor.get("m1");
leftMotor.setDirection(DcMotor.Direction.REVERSE);
shooter = hardwareMap.dcMotor.get("shooter");
hand = hardwareMap.servo.get("hand");
stopDriving();
shooter.setPower(0);
waitForStart();
//
drive(-0.70, -0.70, 1100);
sleep(50);
//
shooter.setPower(-1);
sleep(5000);
shooter.setPower(0);
sleep(100);
// -
drive(0.7, -0.7, TURN_RIGHT);
sleep(50);
drive(0.7, 0.7, 1100);
sleep(50);
drive(0.7, -0.7, TURN_RIGHT+100);
sleep(50);
while(opModeIsActive() && (lightSensor.getLightDetected() < 0.70) && (lightSensor.getLightDetected() > 0.60)) { drive2(0.5, 0.5); }
sleep(1);
stopDriving();
sleep(50);
mayak();
sleep(1);
drive(0.7, -0.7, TURN_RIGHT);
sleep(1);
while(opModeIsActive() && (lightSensor.getLightDetected() < 0.70) && (lightSensor.getLightDetected() > 0.60)) { drive2(0.5, 0.5); }
sleep(1);
stopDriving();
sleep(50);
mayak();
sleep(1);
}
public void stopDriving() {
leftMotor.setPower(0);
rightMotor.setPower(0);
}
public void drive(double lpower, double rpower, long waiting) {
now = System.currentTimeMillis();
while(opModeIsActive() && (System.currentTimeMillis() - now < waiting)) {
leftMotor.setPower(lpower);
rightMotor.setPower(rpower);
}
stopDriving();
}
public void drive2(double lpower, double rpower) {
leftMotor.setPower(lpower);
rightMotor.setPower(rpower);
}
public void mayak() {
while(opModeIsActive() && (ultrasonicSensor.getUltrasonicLevel() > 20)) {
if (lightSensor.getLightDetected() > 0.70) {
drive(0.25, 0, 1);
} else if(lightSensor.getLightDetected() < 0.50) {
drive(0, 0.25, 1);
} else {
drive(0.25, 0.25, 1);
}
}
stopDriving();
if(sensorRGB.red() >= 100) {
hand.setPosition(0.2);
drive(0.3, 0.3, 100);
} else {
hand.setPosition(0.8);
drive(0.3, 0.3, 100);
}
}
}
, .
