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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@Autonomous
public class autonew extends LinearOpMode {
@Override
public void runOpMode() throws InterruptedException {
// Declare our motors
// Make sure your ID's match your configuration
DcMotor frontLeftMotor = hardwareMap.dcMotor.get("frontleftmotor");
DcMotor backLeftMotor = hardwareMap.dcMotor.get("backleftmotor");
DcMotor frontRightMotor = hardwareMap.dcMotor.get("frontrightmotor");
DcMotor backRightMotor = hardwareMap.dcMotor.get("backrightmotor");
DcMotor leftelle = hardwareMap.dcMotor.get("leftelle");
DcMotor rightelle = hardwareMap.dcMotor.get("rightelle");
Servo RightIntakeLift = hardwareMap.servo.get("rightintakelift");
DcMotor leftarm = hardwareMap.dcMotor.get("leftarm");
DcMotor rightarm = hardwareMap.dcMotor.get("rightarm");
frontLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
waitForStart();
if (isStopRequested()) return;
while (opModeIsActive()) {
frontLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
leftelle.setDirection(DcMotorSimple.Direction.REVERSE);
rightarm.setDirection(DcMotorSimple.Direction.REVERSE);
RightIntakeLift.setPosition(0.3457);
double y = 0;
double x = 1.1;
double rx = 0;
//movement
//double y = -gamepad1.left_stick_y; // Remember, Y stick value is reversed
//double x = gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
//double rx = gamepad1.right_trigger - gamepad1.left_trigger;
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio,
// but only if at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
frontLeftMotor.setPower(1);
backLeftMotor.setPower(1);
frontRightMotor.setPower(1);
backRightMotor.setPower(1);
leftelle.setPower(1);
rightelle.setPower(1);
sleep(300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
leftelle.setPower(1);
rightelle.setPower(1);
sleep(1000);
telemetry.addData("here", 0);
telemetry.update();
leftelle.setPower(0.1);
rightelle.setPower(0.1);
sleep(2000);
telemetry.addData("here", 0);
telemetry.update();
leftelle.setPower(-1);
rightelle.setPower(-1);
sleep(3000);
telemetry.addData("here", 0);
telemetry.update();
leftelle.setPower(0);
rightelle.setPower(0);
sleep(1000);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-1);
backLeftMotor.setPower(-1);
frontRightMotor.setPower(-1);
backRightMotor.setPower(-1);
sleep(200);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(frontLeftPower);
backLeftMotor.setPower(backLeftPower);
frontRightMotor.setPower(frontRightPower);
backRightMotor.setPower(backRightPower);
sleep(2500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(500);
frontLeftMotor.setPower(-0.5);
backLeftMotor.setPower(-0.5);
frontRightMotor.setPower(-0.5);
backRightMotor.setPower(-0.5);
sleep(800);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-frontLeftPower);
backLeftMotor.setPower(-backLeftPower);
frontRightMotor.setPower(-frontRightPower);
backRightMotor.setPower(-backRightPower);
sleep(470);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(1);
backLeftMotor.setPower(1);
frontRightMotor.setPower(1);
backRightMotor.setPower(1);
sleep(650);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(frontLeftPower);
backLeftMotor.setPower(backLeftPower);
frontRightMotor.setPower(frontRightPower);
backRightMotor.setPower(backRightPower);
sleep(250);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(100);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-0.5);
backLeftMotor.setPower(-0.5);
frontRightMotor.setPower(-0.5);
backRightMotor.setPower(-0.5);
sleep(2200);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(1);
backLeftMotor.setPower(1);
frontRightMotor.setPower(1);
backRightMotor.setPower(1);
sleep(650);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(frontLeftPower);
backLeftMotor.setPower(backLeftPower);
frontRightMotor.setPower(frontRightPower);
backRightMotor.setPower(backRightPower);
sleep(240);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(100);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-0.5);
backLeftMotor.setPower(-0.5);
frontRightMotor.setPower(-0.5);
backRightMotor.setPower(-0.5);
sleep(2300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(200);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-frontLeftPower);
backLeftMotor.setPower(-backLeftPower);
frontRightMotor.setPower(-frontRightPower);
backRightMotor.setPower(-backRightPower);
sleep(100);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(200);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(1);
backLeftMotor.setPower(1);
frontRightMotor.setPower(1);
backRightMotor.setPower(1);
sleep(600);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(frontLeftPower);
backLeftMotor.setPower(backLeftPower);
frontRightMotor.setPower(frontRightPower);
backRightMotor.setPower(backRightPower);
sleep(500);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(frontLeftPower*0.5);
backLeftMotor.setPower(backLeftPower*0.5);
frontRightMotor.setPower(frontRightPower*0.5);
backRightMotor.setPower(backRightPower*0.5);
sleep(1000);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(0);
backLeftMotor.setPower(0);
frontRightMotor.setPower(0);
backRightMotor.setPower(0);
sleep(300);
telemetry.addData("here", 0);
telemetry.update();
frontLeftMotor.setPower(-0.5);
backLeftMotor.setPower(-0.5);
frontRightMotor.setPower(-0.5);
backRightMotor.setPower(-0.5);
sleep(2500);
break;
}
}
}