AUTO: Final code for Iasi demo

BoogeyBots · Jan 5, 2019 · c2f08a4 · c2f08a4
1 parent 3a48dc0
commit c2f08a4
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Showing 2 changed files with 28 additions and 14 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roverruckus/AutoCrater.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roverruckus/AutoCrater.kt
@@ -69,7 +69,11 @@ class AutoCrater : LinearOpMode() {
         telemetry.addData("INIT", "over!")
         telemetry.update()
 
-        waitForStart()
+//        waitForStart()
+        while (!opModeIsActive() && !isStopRequested) {
+            telemetry.addData("Status", "Waiting in Init")
+            telemetry.update()
+        }
 
         imu.startAccelerationIntegration(Position(), Velocity(), 1000)
 
@@ -185,7 +189,7 @@ class AutoCrater : LinearOpMode() {
                 waitForSeconds(0.75)
                 goForwardOnAngle(time = 0.7, power=-0.45, angle=-135.0)
                 rotate(degrees = -(180.0 - 55.0), power = 0.34)
-                goForwardOnAngle(time = 1.2, power = -0.45, angle = 90.0)
+                goForwardOnAngle(time = 1.65, power = -0.35, angle = 90.0)
 
                 // ============================
                 waitForSeconds(0.2)
@@ -194,6 +198,7 @@ class AutoCrater : LinearOpMode() {
                 goForwardOnAngle(time = 1.35, power = -0.45, angle = 145.0)
                 dropTeamMarker()
                 waitForSeconds(0.5)
+                goForwardOnAngle(time = 0.1, power = 0.7, angle = 142.0)
                 goForwardOnAngle(time = 1.15, power = 0.5, angle = 142.0)
                 goForwardOnAngle(time = 1.2, power = 0.5, angle = 145.0)
                 letDownArm()
@@ -203,7 +208,7 @@ class AutoCrater : LinearOpMode() {
                 waitForSeconds(0.7)
                 goForwardOnAngle(time = 0.7, power = -0.45, angle = 180.0)
                 rotate(degrees = -90.0, power = 0.34)
-                goForwardOnAngle(time = 1.35, power = -0.45, angle = 90.0)
+                goForwardOnAngle(time = 1.6, power = -0.45, angle = 90.0)
 
                 // ============================
                 waitForSeconds(0.2)
@@ -212,16 +217,17 @@ class AutoCrater : LinearOpMode() {
                 goForwardOnAngle(time = 1.35, power = -0.45, angle = 143.0)
                 dropTeamMarker()
                 waitForSeconds(0.5)
-                goForwardOnAngle(time = 1.25, power = 0.5, angle = 142.0)
-                goForwardOnAngle(time = 1.35, power = 0.5, angle = 147.0)
+                goForwardOnAngle(time = 0.2, power = 0.8, angle = 142.0)
+                goForwardOnAngle(time = 1.1, power = 0.5, angle = 142.0)
+                goForwardOnAngle(time = 1.0, power = 0.5, angle = 147.0)
                 letDownArm()
             }
             3 -> {
                 goForwardOnAngle(time = 0.7, power = 0.45, angle = 145.0)
                 waitForSeconds(0.75)
                 goForwardOnAngle(time = 0.7, power = -0.45, angle = 147.0)
                 rotate(degrees = -55.0, power = 0.34)
-                goForwardOnAngle(time = 1.4, power = -0.45, angle = 90.0)
+                goForwardOnAngle(time = 1.8, power = -0.35, angle = 90.0)
 
                 // ============================
                 waitForSeconds(0.2)
@@ -230,8 +236,9 @@ class AutoCrater : LinearOpMode() {
                 goForwardOnAngle(time = 1.35, power = -0.45, angle = 145.0)
                 dropTeamMarker()
                 waitForSeconds(0.5)
-                goForwardOnAngle(time = 1.23, power = 0.5, angle = 142.0)
-                goForwardOnAngle(time = 1.2, power = 0.5, angle = 145.0)
+                goForwardOnAngle(time = 0.1, power = 0.7, angle = 142.0)
+                goForwardOnAngle(time = 1.13, power = 0.5, angle = 142.0)
+                goForwardOnAngle(time = 1.2, power = 0.5, angle = 149.0)
                 letDownArm()
             }
         }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roverruckus/AutoDepot.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/roverruckus/AutoDepot.kt
@@ -69,7 +69,14 @@ class AutoDepot : LinearOpMode() {
         telemetry.addData("INIT", "over!")
         telemetry.update()
 
-        waitForStart()
+
+
+//        waitForStart()
+        while (!opModeIsActive() && !isStopRequested) {
+            telemetry.addData("Status", "Waiting in Init")
+            telemetry.update()
+        }
+
 
         imu.startAccelerationIntegration(Position(), Velocity(), 1000)
 
@@ -213,31 +220,31 @@ class AutoDepot : LinearOpMode() {
         when (goldPos) {
             3 -> {
                 rotate(degrees = -80.0, power = 0.34)
-                goForwardOnAngle(time = 1.4, power = -0.45, angle = 45.0)
+                goForwardOnAngle(time = 1.27, power = -0.45, angle = 45.0)
                 rotate(-80.0, power = 0.34)
                 dropTeamMarker()
                 letDownArm()
                 goForwardOnAngle(time = 0.6, power = 0.50, angle = -40.0)
                 liftIntake()
                 goForwardOnAngle(time = 0.75, power = 0.50, angle = -37.0)
-                goForwardOnAngle(time = 0.75, power = 0.50, angle = -40.0)
+                goForwardOnAngle(time = 0.65, power = 0.50, angle = -40.0)
             }
             2 -> {
                 rotate(degrees = 70.0, power = 0.34)
                 dropTeamMarker()
                 letDownArm()
                 goForwardOnAngle(time = 0.6, power = 0.6, angle = -45.0)
                 liftIntake()
-                goForwardOnAngle(time = 1.269, power = 0.55, angle = -40.0)
+                goForwardOnAngle(time = 1.35, power = 0.55, angle = -40.0)
             }
             1-> {
                 rotate(degrees = 85.0, power = 0.34)
                 goForwardOnAngle(time = 1.0, power = -0.45, angle = -42.0)
                 dropTeamMarker()
-                letDownArm()
                 goForwardOnAngle(time = 0.6, power = 0.55, angle = -40.0)
                 liftIntake()
-                goForwardOnAngle(time = 0.9, power = 0.55, angle = -40.0)
+                goForwardOnAngle(time = 1.1, power = 0.55, angle = -43.0)
+                letDownArm()
             }
         }