Changed Positions in auto and added manual intake arm to gamepad 2

ftc16072 · Jan 12, 2025 · 4272ff0 · 4272ff0
1 parent 1789032
commit 4272ff0
Showing 1 changed file with 39 additions and 0 deletions.
diff --git a/...c/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java b/...c/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java
@@ -0,0 +1,39 @@
+package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+@Autonomous
+public class PushintoNetandAscendAuto extends QQOpMode{
+    private double step = 0;
+
+    public void init(){
+        super.init();
+        robot.otos.setOtosPosition(-61.5,0,-90);
+    }
+    public void loop(){
+        super.loop();
+        if(step == 0){
+            boolean donedriving = nav.driveToPositionIN(-58,24,0);
+              if(donedriving){
+                  step = 1;
+            }
+        }else if(step == 1){
+            boolean doneDriving = nav.driveToPositionIN(-28,24,0);
+            if(doneDriving){
+                step = 2;
+            }
+        }else if(step == 2){
+           boolean doneDriving = nav.driveToPositionIN(-24,10,0);
+           if(doneDriving){
+               step = 3;
+            }
+    } else if (step == 3) {
+            boolean doneDriving = nav.driveToPositionIN(-24,10,-90);
+            if (doneDriving){
+                step = 4;
+                robot.scoreArm.goToPlace();
+            }
+        }
+
+    }
+}