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init:ftc2024-autonome.java

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GZod01 2024-01-28 16:37:13 +01:00
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ftc2024-autonome.java
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.Gyroscope;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.DigitalChannel;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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;
@Autonomous
public class HelloWorld_ElapsedTime extends LinearOpMode {
private DcMotor leftMotor;
private DcMotor rightMotor;
private DcMotor arm;
private Servo claw;
private DigitalChannel touch;
private Gyroscope imu;
private ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
imu = hardwareMap.get(Gyroscope.class, "imu");
leftMotor = hardwareMap.get(DcMotor.class, "leftmotor");
rightMotor = hardwareMap.get(DcMotor.class, "rightmotor");
arm = hardwareMap.get(DcMotor.class, "arm");
claw = hardwareMap.get(Servo.class, "claw");
touch = hardwareMap.get(DigitalChannel.class, "touch");
leftMotor.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
rightMotor.setDirection(DcMotor.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
// Wait for the game to start (driver presses PLAY)
waitForStart();
// run until the end of the match (driver presses STOP)
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
leftMotor.setPower(1);
rightMotor.setPower(1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
leftMotor.setPower(-1);
rightMotor.setPower(-1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
}