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DriveCircle.java
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DriveCircle.java
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// simple autonomous program that drives bot in a circle then ends.
// this code assumes it will end before the period is over but if the period ended while
// still driving, this code will just stop.
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
@Autonomous(name="Drive Circle", group="Exercises")
//@Disabled
public class DriveCircle extends LinearOpMode
{
DcMotor leftMotor;
DcMotor rightMotor;
// called when init button is pressed.
@Override
public void runOpMode() throws InterruptedException
{
leftMotor = hardwareMap.dcMotor.get("left_motor");
rightMotor = hardwareMap.dcMotor.get("right_motor");
leftMotor.setDirection(DcMotor.Direction.REVERSE);
telemetry.addData("Mode", "waiting");
telemetry.update();
// wait for start button.
waitForStart();
telemetry.addData("Mode", "running");
telemetry.update();
sleep(500); // wait so that above telemetry is visible.
// set power levels 75% left and 10% right to drive in an arc to the right.
leftMotor.setPower(0.75);
rightMotor.setPower(0.20);
sleep(5000); // drive 5 seconds to make a circle.
// turn the motors off.
rightMotor.setPower(0);
leftMotor.setPower(0);
}
}