@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);
}
public void turn(int target) throws InterruptedException {
for (int count = 0; count < 2; count++) {
int reverse = 1;
int heading = sensorGyro.getHeading();
int timeToTurn = 0;
int degreesToTurn = Math.abs(heading - target); // |0 - 90| = 90
if (heading < target) // 0 < 90 = True
{
reverse = -1;
}
if (degreesToTurn > 180) { // 90 > 180 = False
degreesToTurn = 360 - degreesToTurn;
reverse = reverse * -1;
}
timeToTurn = degreesToTurn * 10; // 90 * 10 = 900
leftMotor.setPower(1.0 * reverse); // 1.0
rightMotor.setPower(-1.0 * reverse); // -1.0
sleep(timeToTurn); // 900
setDriveMotors(0); // 0
sleep(1000);
}
}