Made all simple autonomous code with the beginning meaning after init…

… is pressed the claw locks and goes into stow mode.
GearUp12499-org · Nov 12, 2023 · 23edb95 · 23edb95
1 parent be33df7
commit 23edb95
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Showing 4 changed files with 8 additions and 1 deletion.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java
@@ -30,7 +30,8 @@ public void runOpMode() {
         driveMotors.backRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 24;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 24;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 30;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));