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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import com.qualcomm.robotcore.hardware.DcMotor;

import com.qualcomm.robotcore.hardware.Servo;

import com.qualcomm.robotcore.util.ElapsedTime;

import com.qualcomm.robotcore.hardware.ColorSensor;

//import org.firstinspires.ftc.robotcontroller.external.samples.HardwarePushbot;

/**

* This file illustrates the concept of driving a path based on time.

* It uses the common Pushbot hardware class to define the drive on the robot.

* The code is structured as a LinearOpMode

*

* The code assumes that you do NOT have encoders on the wheels,

* otherwise you would use: PushbotAutoDriveByEncoder;

*

* The desired path in this example is:

* - Drive forward for 3 seconds

* - Spin right for 1.3 seconds

* - Drive Backwards for 1 Second

* - Stop and close the claw.

*

* The code is written in a simple form with no optimizations.

* However, there are several ways that this type of sequence could be streamlined,

*

* 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

*/

@Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot")

//Disabled

public class PushbotAutoDriveByTime_Linear extends LinearOpMode {

/* Declare OpMode members. */

//org.firstinspires.ftc.robotcontroller.external.samples.HardwarePushbot robot = new HardwarePushbot(); // Use a Pushbot's hardware

private ElapsedTime runtime = new ElapsedTime();

static final double FORWARD_SPEED = 0.6;

static final double TURN_SPEED = 0.5;

public DcMotor leftDrive = null;

public DcMotor rightDrive = null;

//public DcMotor arm = null;

//public Servo leftClaw = null;

//public Servo rightClaw = null;

//private Servo relic = null;

//private Servo hook = null;

public Servo color = null;

public ColorSensor jewel = null;

@Override

public void runOpMode() {

/*

* Initialize the drive system variables.

* The init() method of the hardware class does all the work here

*/

leftDrive = hardwareMap.get(DcMotor.class, "left_drive");

rightDrive = hardwareMap.get(DcMotor.class, "right_drive");

color = hardwareMap.get(Servo.class, "color");

jewel = hardwareMap.get(ColorSensor.class, "jewel");

// Send telemetry message to signify robot waiting;

telemetry.addData("Status", "Ready to run"); //

telemetry.update();

// Wait for the game to start (driver presses PLAY)

waitForStart();

// Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way

//Actual step 1: Deploy color

color.setPosition(0);

//Actual step 2: read color

if (jewel.red()>= 10) {

leftDrive.setPower(FORWARD_SPEED);

rightDrive.setPower(FORWARD_SPEED);

runtime.reset();

sleep (1000);

}

else if (jewel.blue() >=10){

leftDrive.setPower(-FORWARD_SPEED);

rightDrive.setPower(-FORWARD_SPEED);

runtime.reset();

sleep(1000);

}

// Step 1: Drive forward for 3 seconds

/*robot.leftDrive.setPower(FORWARD_SPEED);

robot.rightDrive.setPower(FORWARD_SPEED);

runtime.reset();

while (opModeIsActive() && (runtime.seconds() < 3.0)) {

telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());

telemetry.update();

}

// Step 2: Spin right for 1.3 seconds

robot.leftDrive.setPower(TURN_SPEED);

robot.rightDrive.setPower(-TURN_SPEED);

runtime.reset();

while (opModeIsActive() && (runtime.seconds() < 1.3)) {

telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds());

telemetry.update();

}

// Step 3: Drive Backwards for 1 Second

robot.leftDrive.setPower(-FORWARD_SPEED);

robot.rightDrive.setPower(-FORWARD_SPEED);

runtime.reset();

while (opModeIsActive() && (runtime.seconds() < 1.0)) {

telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds());

telemetry.update();

}

// Step 4: Stop and close the claw.

robot.leftDrive.setPower(0);

robot.rightDrive.setPower(0);

robot.leftClaw.setPosition(1.0);

robot.rightClaw.setPosition(0.0);

telemetry.addData("Path", "Complete");

telemetry.update();

sleep(1000);*/

}

}