TemplateOpMode_Linear.java

/*
Copyright (c) 2016 Robert Atkinson

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package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;

/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a PushBot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * 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
 */

@TeleOp(name="Template: Linear OpMode", group="Linear Opmode")  // @Autonomous(...) is the other common choice
@Disabled
class RobotAuto extends LinearOpMode {

    /* Declare OpMode members. */
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor leftMotor = null;
    private DcMotor rightMotor = null;
    private DcMotor IntakeMotor = null;
    private DcMotor lsMotor = null;
    private DcMotor rsMotor = null;
    public boolean after;
    public boolean aftetafter;
    long startTime;

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        /* eg: Initialize the hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names assigned during the robot configuration
         * step (using the FTC Robot Controller app on the phone).
         */
        leftMotor  = hardwareMap.dcMotor.get("left_drive");
        rightMotor = hardwareMap.dcMotor.get("right_drive");
        IntakeMotor = hardwareMap.dcMotor.get("particle_intake");
        lsMotor = hardwareMap.dcMotor.get("left_particle_shooter");
        rsMotor = hardwareMap.dcMotor.get("right_particle_shooter");


        // eg: Set the drive motor directions:
        // "Reverse" the motor that runs backwards when connected directly to the battery
        leftMotor.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
        rightMotor.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors
        IntakeMotor.setDirection(DcMotor.Direction.REVERSE);
        lsMotor.setDirection(DcMotor.Direction.REVERSE);
        rsMotor.setDirection(DcMotor.Direction.FORWARD);
        startTime = System.currentTimeMillis();

        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)

        telemetry.addData("Status", "Run Time: " + runtime.toString());
        telemetry.update();

        leftMotor.setPower(1);
        rightMotor.setPower(1);
        sleep(375);
        leftMotor.setPower(0);
        rightMotor.setPower(0);
        sleep(100);
        rsMotor.setPower(1);
        lsMotor.setPower(1);
        sleep(6000);
        IntakeMotor.setPower(1);
        sleep(3000);
        IntakeMotor.setPower(0);
        rsMotor.setPower(0);
        lsMotor.setPower(0);
        sleep(100);
        IntakeMotor.setPower(1);
        sleep(1000);
        leftMotor.setPower(-1);
        rightMotor.setPower(-1);
        sleep(1500);
        IntakeMotor.setPower(0);
        sleep(100);
        leftMotor.setPower(1);
        rightMotor.setPower(1);
        sleep(415);
        rsMotor.setPower(1);
        lsMotor.setPower(1);
        sleep(2500);
        IntakeMotor.setPower(1);
        sleep(1000);
        IntakeMotor.setPower(0);
        rsMotor.setPower(0);
        lsMotor.setPower(0);
        sleep(100);
        leftMotor.setPower(1);
        rightMotor.setPower(1);
        sleep(450);
        leftMotor.setPower(0.2);
        rightMotor.setPower(1);
        sleep(250);
        leftMotor.setPower(1);
        rightMotor.setPower(1);
        sleep(250);
        leftMotor.setPower(0);
        rightMotor.setPower(0);
        sleep(20000);
        }
    }