Merge pull request #9 from Benishere67/master

new names and fixed autonomous. YAY!!!!!!!

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonimous/AutoImBen.java

@@ -56,7 +56,7 @@
  * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
  */
 
-@Autonomous(name="AutoImBen", group="Pushbot")
+@Autonomous(name="AutoImBen", group="Xdrive")
 //@Disabled
 public class AutoImBen extends LinearOpMode {
 
@@ -65,7 +65,7 @@ public class AutoImBen extends LinearOpMode {
 
 
     static final double     FORWARD_SPEED = 0.4;
-    static final double     TURN_SPEED    = 0.5;
+    static final double     TURN_SPEED    = 0.4;
 
     @Override
     public void runOpMode() {
@@ -86,22 +86,22 @@ public void runOpMode() {
 
         // Move forward
 
-        robot.TopLeft.setPower(FORWARD_SPEED);
-        robot.TopRight.setPower(FORWARD_SPEED);
-        robot.BottomLeft.setPower(FORWARD_SPEED);
-        robot.BottomRight.setPower(FORWARD_SPEED);
+        robot.FrontLeft.setPower(FORWARD_SPEED);
+        robot.FrontRight.setPower(FORWARD_SPEED);
+        robot.BackLeft.setPower(FORWARD_SPEED);
+        robot.BackRight.setPower(FORWARD_SPEED);
         runtime.reset();
 
         while (opModeIsActive() && (runtime.seconds() < 1.3)) {
             telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
             telemetry.update();
         }
- 
+
         // Stop all motors
-        robot.TopLeft.setPower(0);
-        robot.TopRight.setPower(0);
-        robot.BottomLeft.setPower(0);
-        robot.BottomRight.setPower(0);
+        robot.FrontLeft.setPower(0);
+        robot.FrontRight.setPower(0);
+        robot.BackLeft.setPower(0);
+        robot.BackRight.setPower(0);
 
         telemetry.addData("Path", "Complete");
         telemetry.update();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonimous/AutoImBenfFR.java

@@ -0,0 +1,136 @@
+/* Copyright (c) 2017 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode.Autonimous;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode._Libs.Xdrive;
+
+/**
+ * This file illustrates the concept of driving up to a line and then stopping.
+ * It uses the common Pushbot hardware class to define the drive on the robot.
+ * The code is structured as a LinearOpMode
+ *
+ * The code shows using two different light sensors:
+ *   The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light")
+ *   Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods")
+ *   instead of the LEGO sensor.  Chose to use one sensor or the other.
+ *
+ *   Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
+ *   This should be set half way between the light and dark values.
+ *   These values can be read on the screen once the OpMode has been INIT, but before it is STARTED.
+ *   Move the senso on asnd off the white line and not the min and max readings.
+ *   Edit this code to make WHITE_THRESHOLD half way between the min and max.
+ *
+ * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
+ */
+
+@Autonomous(name="AutoImBen. ForwardRight", group="Xdrive")
+//@Disabled
+public class AutoImBenfFR  extends LinearOpMode {
+
+    Xdrive         robot   = new Xdrive();   // Use a Pushbot's hardware
+    private ElapsedTime     runtime = new ElapsedTime();
+
+
+    static final double     FORWARD_SPEED = 0.4;
+    static final double     BACKWARD_SPEED = -0.4;
+//    static final double     TURN_SPEED    = 0.4;
+
+    @Override
+    public void runOpMode() {
+
+        /* Initialize the drive system variables.
+         * The init() method of the hardware class does all the work here
+         */
+        robot.init(hardwareMap);
+
+
+        // Send telemetry message to signify robot waiting;
+        telemetry.addData("Status", "Ready to run");
+        telemetry.update();
+
+        // Wait for the game to start (driver presses PLAY)
+        // Abort this loop is started or stopped.
+        waitForStart();
+
+        runtime.reset();
+        // Move forward
+        robot.FrontLeft.setPower(FORWARD_SPEED);
+        robot.FrontRight.setPower(FORWARD_SPEED);
+        robot.BackLeft.setPower(FORWARD_SPEED);
+        robot.BackRight.setPower(FORWARD_SPEED);
+
+        while (opModeIsActive() && (runtime.seconds() < 0.3)) {
+            telemetry.addData("Direction", "Forward: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+        //Stop
+        runtime.reset();
+
+        robot.FrontLeft.setPower(0);
+        robot.FrontRight.setPower(0);
+        robot.BackLeft.setPower(0);
+        robot.BackRight.setPower(0);
+
+        while (opModeIsActive() && (runtime.seconds() < 0.3)) {
+            telemetry.addData("Direction", "Stopped: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+        // Move left
+
+        robot.FrontLeft.setPower(FORWARD_SPEED);
+        robot.FrontRight.setPower(BACKWARD_SPEED);
+        robot.BackLeft.setPower(BACKWARD_SPEED);
+        robot.BackRight.setPower(FORWARD_SPEED);
+
+
+        while (opModeIsActive() && (runtime.seconds() < 1.3)) {
+            telemetry.addData("Direction", "Right: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+
+        // Stop all motors
+        robot.FrontLeft.setPower(0);
+        robot.FrontRight.setPower(0);
+        robot.BackLeft.setPower(0);
+        robot.BackRight.setPower(0);
+
+        telemetry.addData("Path", "Complete");
+        telemetry.update();
+        sleep(1000);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonimous/AutoImBenfFl.java

@@ -0,0 +1,136 @@
+/* Copyright (c) 2017 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode.Autonimous;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode._Libs.Xdrive;
+
+/**
+ * This file illustrates the concept of driving up to a line and then stopping.
+ * It uses the common Pushbot hardware class to define the drive on the robot.
+ * The code is structured as a LinearOpMode
+ *
+ * The code shows using two different light sensors:
+ *   The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light")
+ *   Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods")
+ *   instead of the LEGO sensor.  Chose to use one sensor or the other.
+ *
+ *   Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
+ *   This should be set half way between the light and dark values.
+ *   These values can be read on the screen once the OpMode has been INIT, but before it is STARTED.
+ *   Move the senso on asnd off the white line and not the min and max readings.
+ *   Edit this code to make WHITE_THRESHOLD half way between the min and max.
+ *
+ * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
+ */
+
+@Autonomous(name="AutoImBen. ForwardLeft", group="Xdrive")
+//@Disabled
+public class AutoImBenfFl extends LinearOpMode {
+
+    Xdrive         robot   = new Xdrive();   // Use a Pushbot's hardware
+    private ElapsedTime     runtime = new ElapsedTime();
+
+
+    static final double     FORWARD_SPEED = 0.4;
+    static final double     BACKWARD_SPEED = -0.4;
+//    static final double     TURN_SPEED    = 0.4;
+
+    @Override
+    public void runOpMode() {
+
+        /* Initialize the drive system variables.
+         * The init() method of the hardware class does all the work here
+         */
+        robot.init(hardwareMap);
+
+
+        // Send telemetry message to signify robot waiting;
+        telemetry.addData("Status", "Ready to run");
+        telemetry.update();
+
+        // Wait for the game to start (driver presses PLAY)
+        // Abort this loop is started or stopped.
+        waitForStart();
+
+        runtime.reset();
+        // Move forward
+        robot.FrontLeft.setPower(FORWARD_SPEED);
+        robot.FrontRight.setPower(FORWARD_SPEED);
+        robot.BackLeft.setPower(FORWARD_SPEED);
+        robot.BackRight.setPower(FORWARD_SPEED);
+
+        while (opModeIsActive() && (runtime.seconds() < 0.3)) {
+            telemetry.addData("Direction", "Forward: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+        //Stop
+        runtime.reset();
+
+        robot.FrontLeft.setPower(0);
+        robot.FrontRight.setPower(0);
+        robot.BackLeft.setPower(0);
+        robot.BackRight.setPower(0);
+
+        while (opModeIsActive() && (runtime.seconds() < 0.3)) {
+            telemetry.addData("Direction", "Stopped: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+        // Move left
+
+        robot.FrontLeft.setPower(BACKWARD_SPEED);
+        robot.FrontRight.setPower(FORWARD_SPEED);
+        robot.BackLeft.setPower(FORWARD_SPEED);
+        robot.BackRight.setPower(BACKWARD_SPEED);
+
+
+        while (opModeIsActive() && (runtime.seconds() < 1.3)) {
+            telemetry.addData("Direction", "Left: %2.5f S Elapsed", runtime.seconds());
+            telemetry.update();
+        }
+
+
+        // Stop all motors
+        robot.FrontLeft.setPower(0);
+        robot.FrontRight.setPower(0);
+        robot.BackLeft.setPower(0);
+        robot.BackRight.setPower(0);
+
+        telemetry.addData("Path", "Complete");
+        telemetry.update();
+        sleep(1000);
+    }
+}