47 lines
1.3 KiB
Java
47 lines
1.3 KiB
Java
package org.firstinspires.ftc.teamcode;
|
|
|
|
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
|
|
|
|
@Autonomous(name="Auton 4.2 Red", preselectTeleOp = MainOpModeName.name)
|
|
public class AutonFourR extends BaseLinearOpMode {
|
|
@Override
|
|
public void runOpMode() {
|
|
this.construct();
|
|
api.print("Status", "Initializing, please wait");
|
|
MovementAPI.init(api, motors);
|
|
motors.lift.setDirection(API.Direction.REVERSE, false);
|
|
|
|
api.clear();
|
|
api.print("Press play to start");
|
|
|
|
waitForStart();
|
|
|
|
MovementAPI.move(-180, 0.4, true);
|
|
api.pause(0.8);
|
|
MovementAPI.stop();
|
|
motors.lift.start(0.25);
|
|
api.pause(3);
|
|
motors.lift.stop();
|
|
motors.lift.start(-0.25);
|
|
api.pause(2.5);
|
|
motors.lift.stop();
|
|
MovementAPI.move(0, 0.4, true);
|
|
api.pause(1);
|
|
MovementAPI.move(-90, 0.4, true);
|
|
api.pause(3);
|
|
MovementAPI.move(-180, 0.4, true);
|
|
api.pause(1);
|
|
MovementAPI.move(-90, 0.4, true);
|
|
api.pause(1);
|
|
MovementAPI.move(0, 0.2, true);
|
|
api.pause(1.6);
|
|
MovementAPI.move(0, 0.1, true);
|
|
motors.carousel.start(-0.75);
|
|
api.pause(5);
|
|
motors.carousel.stop();
|
|
MovementAPI.move(180, 0.4, true);
|
|
api.pause(0.6);
|
|
MovementAPI.stop();
|
|
}
|
|
}
|