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Error handling woo

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This commit is contained in:
Yash Karandikar 2022-11-09 17:45:26 -06:00
parent 3171c89202
commit 6949c666b8
1 changed files with 17 additions and 7 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/createdcode/enhancedautos/AutoBlueColorSensor.java
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@ -15,7 +15,7 @@ public class AutoBlueColorSensor extends LinearOpMode {
waitForStart();
movementAPI.move(0, 0.7);
api.pause(0.5);
api.pause(0.25);
movementAPI.stop();
api.pause(5);
@ -23,8 +23,24 @@ public class AutoBlueColorSensor extends LinearOpMode {
int g = sensor.green();
int b = sensor.blue();
if (r < 100 && g < 100 && b < 100) {
movementAPI.move(-180, 0.7);
api.pause(0.25);
movementAPI.move(-180, 0.7);
api.pause(0.5);
movementAPI.move(90, 0.7);
api.pause(0.7);
movementAPI.stop();
terminateOpModeNow();
}
int largest = api.getLargest(r, g, b);
api.print("r", String.valueOf(r));
api.print("g", String.valueOf(g));
api.print("b", String.valueOf(b));
if (largest == g) {
// move to position 1
movementAPI.move(90, 0.7);
@ -37,12 +53,6 @@ public class AutoBlueColorSensor extends LinearOpMode {
// move to position 3
movementAPI.move(-90, 0.7);
api.pause(0.25);
} else {
// Color sensor broke, move to backup position
movementAPI.move(-180, 0.7);
api.pause(0.5);
movementAPI.move(90, 0.7);
api.pause(0.7);
}
movementAPI.stop();