@Override
public void runOpMode() throws InterruptedException {
leftMotor = hardwareMap.dcMotor.get("left_drive");
rightMotor = hardwareMap.dcMotor.get("right_drive");
arm = hardwareMap.dcMotor.get("arm");
sensorGyro = (ModernRoboticsI2cGyro) hardwareMap.gyroSensor.get("gyro");
leftMotor.setDirection(DcMotor.Direction.REVERSE);
arm.setDirection(DcMotor.Direction.REVERSE);
// autonomous(Red, NoSleep);
sensorGyro.calibrate();
waitForStart();
while (sensorGyro.isCalibrating()) {
Thread.sleep(50);
}
telemetry.addData("Heading ", sensorGyro.getHeading());
telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue());
setDriveMotors(1);
sleep(250);
setDriveMotors(0);
telemetry.addData("Heading ", sensorGyro.getHeading());
telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue());
turn(90);
telemetry.addData("Heading ", sensorGyro.getHeading());
telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue());
sleep(10000);
turn(287);
telemetry.addData("Heading ", sensorGyro.getHeading());
telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue());
sleep(10000);
turn(0);
telemetry.addData("Heading ", sensorGyro.getHeading());
telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue());
sleep(10000);
}
