Java tutorial
/* Copyright (c) 2014 Qualcomm Technologies Inc 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 Qualcomm Technologies Inc 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 com.qualcomm.ftcrobotcontroller.opmodes; import com.qualcomm.robotcore.eventloop.opmode.OpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorController; import com.qualcomm.robotcore.hardware.Servo; import org.opencv.core.Point; import org.opencv.core.Rect; import org.opencv.imgproc.Imgproc; import java.util.ArrayList; /** * TeleOp Mode * <p> * Enables control of the robot via the gamepad */ public class DreamTeamAutonomousRed extends OpMode { /* Main teleop file of the 2015-16 dream team robot Coded by the 31337 Matthew Raneri */ ColorDetection cd; //Define motors DcMotor motorFR; DcMotor motorFL; DcMotor motorBR; DcMotor motorBL; //Define servos Servo servoLeft; Servo servoRight; Servo servoClimbers; Servo servoArm; Servo servoButton; Servo servoTriggerLeft; Servo servoTriggerRight; double servoRightPos; double servoLeftPos; /** * Constructor */ public DreamTeamAutonomousRed() { } /* * Code to run when the op mode is first enabled goes here * * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start() */ /* * Code to run when the op mode is first enabled goes here * * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start() */ @Override public void init() { } public void initGame() { /* * Use the hardwareMap to get the dc motors and servos by name. Note * that the names of the devices must match the names used when you * configured your robot and created the configuration file. */ //Link classes to the configuration file names of motors motorFR = hardwareMap.dcMotor.get("motorFR"); motorFR.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorFL = hardwareMap.dcMotor.get("motorFL"); motorFL.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorBR = hardwareMap.dcMotor.get("motorBR"); motorBR.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorBL = hardwareMap.dcMotor.get("motorBL"); motorBL.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); //motorCollection = hardwareMap.dcMotor.get("motorCollection"); servoLeft = hardwareMap.servo.get("servoLeft"); servoRight = hardwareMap.servo.get("servoRight"); servoArm = hardwareMap.servo.get("servoArm"); servoClimbers = hardwareMap.servo.get("servoClimbers"); servoButton = hardwareMap.servo.get("servoButton"); servoTriggerLeft = hardwareMap.servo.get("servoTriggerLeft"); servoTriggerRight = hardwareMap.servo.get("servoTriggerRight"); //Reverse one side to enable the robot to 'walk straight' motorFR.setDirection(DcMotor.Direction.REVERSE); motorBR.setDirection(DcMotor.Direction.FORWARD); motorFL.setDirection(DcMotor.Direction.REVERSE); motorBL.setDirection(DcMotor.Direction.FORWARD); servoButton.setPosition(1); servoLeftPos = 0; servoLeft.setPosition(servoLeftPos); servoRightPos = 1; servoRight.setPosition(servoRightPos); servoClimberPos = .35; servoClimbers.setPosition(servoClimberPos); servoTriggerLeft.setPosition(.5); servoTriggerRight.setPosition(.5); servoArmPos = .01; servoArm.setPosition(servoArmPos); cd = new ColorDetection(ColorDetection.COLOR_BLUE); resetEncoders(); } public void resetEncoders() { motorFR.setMode(DcMotorController.RunMode.RESET_ENCODERS); motorFR.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorFL.setMode(DcMotorController.RunMode.RESET_ENCODERS); motorFL.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorBR.setMode(DcMotorController.RunMode.RESET_ENCODERS); motorBR.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); motorBL.setMode(DcMotorController.RunMode.RESET_ENCODERS); motorBL.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS); } /* * This method will be called repeatedly in a loop * * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run() */ double motorBRPow; double motorFLPow; double motorFRPow; double motorBLPow; double climberServoInc = 0.0025; double servoClimberPos; double servoArmPos; int buttonLR = 0; public enum State { TEST, START, TURN, FORWARD, ALIGN, BUTTON, CLIMBERS, CLIMBER_ALIGN_FORWARD, CLIMBER_ALIGN_BACKWARD, BUTTON_LEFT, BUTTON_RIGHT, BUTTON_BACKUP, BUTTON_SIDE, BUTTON_RESET_SCAN, MOVE_PARK, INIT } State state = State.INIT; State nextState = State.START; //Target position of motors to complete state double targetPosition; //Booleans to check state of each motor if it has completed its task boolean blDone; boolean flDone; boolean frDone; boolean brDone; boolean buttonSubForward = false; boolean didGoLeft = false; boolean didGoRight = false; int stepCount = 1120; float button_backup = 3; int encBL; int encFL; int encFR; int encBR; ArrayList<Point> points = new ArrayList(); long startClimberTime; long timeSinceStateSwitch; //Dreamteam rotation constant- this function returns the distance to rotate a given number of degrees public double rotateDistance(double degrees) { return 0.148361 * degrees; } @Override public void loop() { //This is the switch for the state machine switch (state) { case INIT: initGame(); state = nextState; nextState = State.TURN; break; case START: telemetry.addData("STATE", "START"); targetPosition = ((stepCount / 12.56)) * 20;//9.8cm blDone = motorBL.getCurrentPosition() > targetPosition; flDone = motorFL.getCurrentPosition() > targetPosition; frDone = motorFR.getCurrentPosition() > targetPosition; brDone = motorBR.getCurrentPosition() > targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone) { motorBLPow = 0; } else { motorBLPow = .3; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .3; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .3; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .3; } //Check to see if all states are done, and if they are, move on to the next state if (blDone && frDone && brDone && flDone) { state = nextState; //After the following state finishes, what state should should go next nextState = State.FORWARD; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case TURN: telemetry.addData("STATE", "TURN"); targetPosition = rotateDistance(43) * (stepCount / 12.56); blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; //Check to see if each motor has finished if (blDone) { motorBLPow = 0; } else { motorBLPow = -.3; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .3; } if (brDone) { motorBRPow = 0; } else { motorBRPow = -.3; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .3; } //Check to see if all states are done, and if they are, move on to the next state if (blDone && frDone && brDone && flDone) { state = nextState; //After the following state finishes, what state should should go next timeSinceStateSwitch = System.currentTimeMillis(); nextState = State.TURN; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case FORWARD: telemetry.addData("STATE", "FORWARD"); targetPosition = ((stepCount / 12.56)) * 42;//9.8cm blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone) { motorBLPow = 0; } else { motorBLPow = .3; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .3; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .3; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .3; } //Check to see if all states are done, and if they are, move on to the next state if (blDone && frDone && brDone && flDone) { state = nextState; //After the following state finishes, what state should should go next nextState = State.ALIGN; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case ALIGN: telemetry.addData("STATE", "ALIGN"); servoButton.setPosition(.45); cd.caploop(); if (cd.getCon() != null && Imgproc.contourArea(cd.getCon()) > 100) { Point center; //I want to store the centroid of the mask in the point 'center' //I also have access to the contour I want to use above //but however I try to compute the moments, I get a crash Rect rect = Imgproc.boundingRect(cd.getCon()); center = new Point((rect.x + rect.width) / 2, (rect.y + rect.height) / 2); points.add(center); if (points.size() > 3) { points.remove(0); } Point average = new Point(); for (Point p : points) { average.x = average.x + p.x; average.y = average.y + p.y; } average.y = (average.y / points.size()); average.x = (average.x / points.size()); telemetry.addData("X, Y", average.x + " " + average.y); if (average.y > 60) { motorBLPow = -.04; motorFLPow = .04; motorBRPow = .04; motorFRPow = -.04; telemetry.addData("Turn", "Left"); } else if (average.y < 45) { motorBLPow = .04; motorFLPow = -.04; motorBRPow = -.04; motorFRPow = .04; telemetry.addData("Turn", "Right"); } else { //Detected and tracked successfully. //wait(100); //The beacon is now centered telemetry.addData("Contour Area", Imgproc.contourArea(cd.getCon())); if (Imgproc.contourArea(cd.getCon()) < 3000) { motorBLPow = 0.07; motorFLPow = 0.07; motorBRPow = 0.07; motorFRPow = 0.07; } else { motorBLPow = 0; motorFLPow = 0; motorBRPow = 0; motorFRPow = 0; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); if (didGoLeft && didGoRight) { state = State.BUTTON_SIDE; nextState = State.CLIMBER_ALIGN_FORWARD; } else { state = State.BUTTON_RIGHT; } } } } else { points.clear(); // motorBLPow = .1; motorFLPow = -.1; motorBRPow = -.1; motorFRPow = .1; } break; case BUTTON: telemetry.addData("STATE", "BUTTON"); targetPosition = ((stepCount / 12.56)) * 2.25; blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() < encFL - targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone && !buttonSubForward) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone && !buttonSubForward) { motorFLPow = 0; } else { motorFLPow = -.1; } if (brDone && !buttonSubForward) { motorBRPow = 0; } else { motorBRPow = -.1; } if (frDone && !buttonSubForward) { motorFRPow = 0; } else { motorFRPow = .1; } boolean tempDone = (blDone && frDone && brDone && flDone); //Check to see if all states are done, and if they are, move on to the next state if (tempDone || buttonSubForward) { if (tempDone) { encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } buttonSubForward = true; targetPosition = ((stepCount / 12.56)) * 3.2; blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = State.CLIMBER_ALIGN_BACKWARD; nextState = State.CLIMBER_ALIGN_FORWARD; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } } break; case BUTTON_LEFT: didGoLeft = true; telemetry.addData("STATE", "BUTTON_LEFT"); targetPosition = ((stepCount / 12.56)) * 6.8; blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() < encFR - targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone && !buttonSubForward) { motorBLPow = 0; } else { motorBLPow = -.1; } if (flDone && !buttonSubForward) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone && !buttonSubForward) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone && !buttonSubForward) { motorFRPow = 0; } else { motorFRPow = -.1; } tempDone = (blDone && frDone && brDone && flDone); //Check to see if all states are done, and if they are, move on to the next state if (tempDone || buttonSubForward) { if (tempDone) { encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } buttonSubForward = true; targetPosition = ((stepCount / 12.56)) * 4; blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = State.BUTTON_BACKUP; nextState = State.ALIGN; button_backup = 8; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } } break; case BUTTON_RIGHT: didGoRight = true; telemetry.addData("STATE", "BUTTON_RIGHT"); targetPosition = ((stepCount / 12.56)) * 5.7; blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() < encFL - targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone && !buttonSubForward) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone && !buttonSubForward) { motorFLPow = 0; } else { motorFLPow = -.1; } if (brDone && !buttonSubForward) { motorBRPow = 0; } else { motorBRPow = -.1; } if (frDone && !buttonSubForward) { motorFRPow = 0; } else { motorFRPow = .1; } tempDone = (blDone && frDone && brDone && flDone); //Check to see if all states are done, and if they are, move on to the next state if (tempDone || buttonSubForward) { if (tempDone) { encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } buttonSubForward = true; targetPosition = ((stepCount / 12.56)) * 4.2; blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = State.BUTTON_BACKUP; nextState = State.BUTTON_LEFT; buttonSubForward = false; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } } break; case CLIMBERS: telemetry.addData("STATE", "CLIMBERS"); if (servoArmPos < .9) { servoArmPos += climberServoInc; } if (servoClimberPos < .9) { servoClimberPos += climberServoInc; } boolean done = !(servoClimberPos < .8 && servoArmPos < .7); servoArm.setPosition(servoArmPos); servoClimbers.setPosition(servoClimberPos); if (done) { servoClimbers.setPosition(0); servoArm.setPosition(.7); state = State.MOVE_PARK; } break; case BUTTON_BACKUP: telemetry.addData("STATE", "BUTTON_BACKUP"); targetPosition = ((stepCount / 12.56)) * button_backup; blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() < encFL - targetPosition; frDone = motorFR.getCurrentPosition() < encFR - targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = -.1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = -.1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = -.1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = -.1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = nextState; nextState = State.CLIMBER_ALIGN_FORWARD; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case CLIMBER_ALIGN_BACKWARD: telemetry.addData("STATE", "CLIMBER_ALIGN_BACKWARD"); targetPosition = ((stepCount / 12.56)) * 1.5; blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() < encFL - targetPosition; frDone = motorFR.getCurrentPosition() < encFR - targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = -.1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = -.1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = -.1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = -.1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = nextState; nextState = State.CLIMBERS; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case CLIMBER_ALIGN_FORWARD: telemetry.addData("STATE", "CLIMBER_ALIGN_FORWARD"); targetPosition = ((stepCount / 12.56)) * 6.5; servoButton.setPosition(1); blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; if (blDone) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = .1; } tempDone = (blDone && frDone && brDone && flDone); if (tempDone) { state = nextState; nextState = State.TEST; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); startClimberTime = System.currentTimeMillis(); } break; case BUTTON_SIDE: telemetry.addData("STATE", "FORWARD"); targetPosition = ((stepCount / 12.56)) * 1;//9.8cm blDone = motorBL.getCurrentPosition() > encBL + targetPosition; flDone = motorFL.getCurrentPosition() < encFL - targetPosition; frDone = motorFR.getCurrentPosition() > encFR + targetPosition; brDone = motorBR.getCurrentPosition() < encBR - targetPosition; if (blDone && !buttonSubForward) { motorBLPow = 0; } else { motorBLPow = .1; } if (flDone && !buttonSubForward) { motorFLPow = 0; } else { motorFLPow = -.1; } if (brDone && !buttonSubForward) { motorBRPow = 0; } else { motorBRPow = -.1; } if (frDone && !buttonSubForward) { motorFRPow = 0; } else { motorFRPow = .1; } //Check to see if all states are done, and if they are, move on to the next state if (blDone && frDone && brDone && flDone) { state = nextState; //After the following state finishes, what state should should go next nextState = State.CLIMBERS; encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case BUTTON_RESET_SCAN: targetPosition = ((stepCount / 12.56)) * 36; blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() < encFR - targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); //Check to see if each motor has finished if (blDone) { motorBLPow = 0; } else { motorBLPow = -.1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = -.1; } tempDone = (blDone && frDone && brDone && flDone); //Check to see if all states are done, and if they are, move on to the next state if (tempDone) { state = State.ALIGN; timeSinceStateSwitch = System.currentTimeMillis(); encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; case MOVE_PARK: targetPosition = ((stepCount / 12.56)) * 18; blDone = motorBL.getCurrentPosition() < encBL - targetPosition; flDone = motorFL.getCurrentPosition() > encFL + targetPosition; frDone = motorFR.getCurrentPosition() < encFR - targetPosition; brDone = motorBR.getCurrentPosition() > encBR + targetPosition; telemetry.addData("MotorFL", motorBL.getCurrentPosition()); /* motorBLPow = .1; motorFLPow = -.1; motorBRPow = -.1; motorFRPow = .1; */ //Check to see if each motor has finished if (blDone) { motorBLPow = 0; } else { motorBLPow = -.1; } if (flDone) { motorFLPow = 0; } else { motorFLPow = .1; } if (brDone) { motorBRPow = 0; } else { motorBRPow = .1; } if (frDone) { motorFRPow = 0; } else { motorFRPow = -.1; } tempDone = (blDone && frDone && brDone && flDone); //Check to see if all states are done, and if they are, move on to the next state if (tempDone) { state = State.TEST; servoArm.setPosition(0.02); servoClimbers.setPosition(0.35); encBL = motorBL.getCurrentPosition(); encBR = motorBR.getCurrentPosition(); encFR = motorFR.getCurrentPosition(); encFL = motorFL.getCurrentPosition(); } break; default: break; } //Always execute after every loop- this will update motor speeds. motorBR.setPower(motorBRPow); motorFL.setPower(motorFLPow); motorFR.setPower(motorFRPow); motorBL.setPower(motorBLPow); //Servos servoLeft.setPosition(servoLeftPos); servoRight.setPosition(servoRightPos); } /* * Code to run when the op mode is first disabled goes here * * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#stop() */ @Override public void stop() { motorBL.setPower(0); motorBR.setPower(0); motorFL.setPower(0); motorFR.setPower(0); resetEncoders(); state = State.START; nextState = State.TURN; } }