auto

Route:

Teamcode/java/org.firsinspires.ftc.teamcode/opmode/auto

Abstract

We mainly use driveStrafe() to make the robot move left and right, driveStraight() to make the it move back and forth, sleepmethod to make it freeze, and turnToHeading to adjust its orientation.

Details

Details can be seen in drivetrain:底盘控制.

Parameter list

• distance: The distance the robot is to travel.

• time: The time in milliseconds for the robot to perform this task, mainly used in the sleep function.

• power: The power of the motor when the machine performs the task.

• heading: The current heading of the robot.

DriveStraight

This method is used to realize that the machine drives backwards and forwards with its own position as a reference, a positive distance drives the machine forwards and a negative distance drives it backwards. At the same time, in the process of movement, the robot itself can also turn, but may cause some error.

Example:

robot.drivetrain
    .driveStraight(double distance, double heading, double power)
;

DriveStrafe

This method is used to realize that the machine drives right and left with its own position as a reference, a positive distance drives the machine right and a negative distance drives it left. At the same time, in the process of movement, the robot itself can also turn, but may cause some error.

Example:

robot.drivetrain
    .driveStrafe(double distance, double heading, double power)
;

TurnToHeading

With this method, we can adjust the orientation of the robot which can make the machine move more accurately.

Example:

robot.drivetrain
   .turnToHeading(double heading, double power)
;

Sleep

We can use this mathod to make the robot still.

robot.drivetrain
    .sleep(double time)
;