// simple autonomous program that drives bot in a square pattern then ends.
// this code assumes it will end before the period is over but if the period ended while
// still driving, this code would just stop.
package com.qualcomm.ftcrobotcontroller.local.opmodes;
import com.qualcomm.ftcrobotcontroller.local.lib.Logging;
import com.qualcomm.ftcrobotcontroller.local.lib.Util;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
public class AutoSample extends LinearOpMode
{
DcMotor leftMotor;
DcMotor rightMotor;
// constructor
public AutoSample() throws Exception
{
Util.currentOpMode = this;
Logging.MyLogger.setup();
}
// called when init button is pressed.
@Override
public void runOpMode() throws InterruptedException
{
leftMotor = hardwareMap.dcMotor.get("M_driveLeft");
rightMotor = hardwareMap.dcMotor.get("M_driveRight");
rightMotor.setDirection(DcMotor.Direction.REVERSE);
Util.telemetry("Mode", "waiting");
Util.log("waiting");
// wait for start button.
waitForStart();
Util.telemetry("Mode", "running");
Util.log("%s", "running");
for(int i=0; i<4; i++)
{
leftMotor.setPower(0.25);
rightMotor.setPower(0.25);
sleep(1000);
leftMotor.setPower(0.0);
rightMotor.setPower(0.0);
sleep(500);
leftMotor.setPower(0.25);
rightMotor.setPower(-0.25);
sleep(500);
leftMotor.setPower(0.0);
rightMotor.setPower(0.0);
sleep(500);
}
rightMotor.setPower(0);
leftMotor.setPower(0);
Util.telemetry("Mode", "done");
Util.log();
Util.log("done");
}
}
Material Type:
Lab Activity
Education Level:
Middle School [1]
High School [2]
Focus Subject:
HW Platform:
Tetrix [5]
SW Platform:
Java [6]
Interactivity Style:
Mixed [7]
Audience:
Learner [8]
