Automatica.java

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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.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.Range;

import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;

import java.util.List;
import java.util.concurrent.TimeUnit;


@Autonomous(name="KirtlandAuto", group = "Linear OpMode", preselectTeleOp = "KirtlandComp")
public class Automatica extends LinearOpMode
{

    private DcMotor leftFrontDrive   = null;  //  Used to control the left front drive wheel
    private DcMotor rightFrontDrive  = null;  //  Used to control the right front drive wheel
    private DcMotor leftBackDrive    = null;  //  Used to control the left back drive wheel
    private DcMotor rightBackDrive   = null;  //  Used to control the right back drive wheel

    @Override public void runOpMode()
    {

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must match the names assigned during the robot configuration.
        // step (using the FTC Robot Controller app on the phone).
        leftFrontDrive  = hardwareMap.get(DcMotor.class, "left_front_drive");
        leftBackDrive  = hardwareMap.get(DcMotor.class, "left_back_drive");
        rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
        rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");


        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
        leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
        leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
        rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
        rightBackDrive.setDirection(DcMotor.Direction.FORWARD);

        waitForStart();

        while (opModeIsActive())
        {
            double strafe = .25;
            double drive = 0;
            double turn = 0;
            moveRobot(drive, strafe, turn);
            sleep(2000);
            break;
        }
    }

    /**
     * Move robot according to desired axes motions
     * <p>
     * Positive X is forward
     * <p>
     * Positive Y is strafe left
     * <p>
     * Positive Yaw is counter-clockwise
     */
    public void moveRobot(double x, double y, double yaw) {
        // Calculate wheel powers.
        double leftFrontPower    =  x -y -yaw;
        double rightFrontPower   =  x +y +yaw;
        double leftBackPower     =  x +y -yaw;
        double rightBackPower    =  x -y +yaw;

        // Normalize wheel powers to be less than 1.0
        double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
        max = Math.max(max, Math.abs(leftBackPower));
        max = Math.max(max, Math.abs(rightBackPower));

        if (max > 1.0) {
            leftFrontPower /= max;
            rightFrontPower /= max;
            leftBackPower /= max;
            rightBackPower /= max;
        }

        // Send powers to the wheels.
        leftFrontDrive.setPower(leftFrontPower);
        rightFrontDrive.setPower(rightFrontPower);
        leftBackDrive.setPower(leftBackPower);
        rightBackDrive.setPower(rightBackPower);
    }

    /**
     * Initialize the AprilTag processor.
     */
}