auto_BRelic.java0

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.util.Range;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import android.graphics.Color;
import com.qualcomm.robotcore.hardware.ColorSensor;
//import android.speech.tts.TextToSpeech;

@Autonomous(name = "BlueRelic-enc", group = "encoders")

public class auto_BRelic extends LinearOpMode {
    private Botbot robot = new Botbot();
    
    ColorSensor colorSense;
    DcMotor frontLeft;
    DcMotor frontRight;
    DcMotor backLeft;
    DcMotor backRight;

    @Override
    public void runOpMode() throws InterruptedException {
        robot.init(hardwareMap);

        telemetry.addData("Robot", "ready");
        
        colorSense = hardwareMap.get(ColorSensor.class, "sensor_color_distance");
        
        float hsv[] = {0F, 0F, 0F};
        final float values[] = hsv;
        int scale = 1;
        boolean colorIsRed = false;
        
        waitForStart();
        
        robot.jewelArm.setPosition(1);
        
        wait(1000);
        
        Color.RGBToHSV((int) (colorSense.red() * scale),
                (int) (colorSense.green() * scale),
                (int) (colorSense.blue() * scale),
                hsv);
        
        if(hsv[0] < 100 || hsv[0] > 300) colorIsRed = true;
        else colorIsRed = false;
        
        if(colorIsRed) {
            driveTime((float) 0.2, (float) 0.2, 300);
            robot.jewelArm.setPosition(0.4);
            wait(1000);
            driveTime((float) -0.2, (float) -0.2, 700);
            telemetry.addData("color", "red");
        } else {
            driveTime((float) -0.2, (float) -0.2, 300);
            wait(1000);
            robot.jewelArm.setPosition(0.4);
            telemetry.addData("color", "blue");
        }
         
        driveTime((float) 0, (float) 1, 500);
        
        robot.intakeLeft.setPower(-1);
        robot.intakeRight.setPower(-1);
        
        wait(1000);
        
        driveTime((float) -0.5, (float) -0.5, 200);

        robot.intakeLeft.setPower(0);
        robot.intakeRight.setPower(0);
        
        driveTime((float) 0.3, (float) 0.3, 300);
        
        telemetry.addData("done", "done");
        updateTelemetry(telemetry);

        wait(10000);
        
    }

    private void wait(int time) {
        try {
            Thread.sleep(time);
        }
        catch(InterruptedException ex) {
            Thread.currentThread().interrupt();
        }
    }
    
    private void setAll(float fl, float fr, float bl, float br) {
        robot.frontLeft.setPower(fl);
        robot.frontRight.setPower(fr);
        robot.backLeft.setPower(bl);
        robot.backRight.setPower(br);
    }

    private void driveTime(float l, float r,  int time) {
        setAll(l, r, l, r);
        wait(time);
        setAll(0, 0, 0, 0);
    }
    
    /*private void driveEncoder(int posL, int posR, double powerL, double powerR, boolean left) {
        robot.frontLeft.setTargetPosition(robot.frontLeft.getCurrentPosition() + posL);
        robot.frontRight.setTargetPosition(robot.frontRight.getCurrentPosition() + posR);
        robot.backLeft.setTargetPosition(robot.backLeft.getCurrentPosition() + posL);
        robot.backRight.setTargetPosition(robot.backRight.getCurrentPosition() + posR);

        robot.frontLeft.setPower(powerL);
        robot.frontRight.setPower(powerR);
        robot.backLeft.setPower(powerL);
        robot.backRight.setPower(powerR);

        if (left) {
            while(robot.backLeft.isBusy()) {
                telemetry.addData("backLeft", robot.backLeft.getCurrentPosition());
                telemetry.addData("backRight", robot.backRight.getCurrentPosition());
                telemetry.addData("frontLeft", robot.frontLeft.getCurrentPosition());
                telemetry.addData("frontRight", robot.frontRight.getCurrentPosition());
                updateTelemetry(telemetry);
            }
        } else {
            while(robot.backRight.isBusy()) {
                telemetry.addData("backLeft", robot.backLeft.getCurrentPosition());
                telemetry.addData("backRight", robot.backRight.getCurrentPosition());
                telemetry.addData("frontLeft", robot.frontLeft.getCurrentPosition());
                telemetry.addData("frontRight", robot.frontRight.getCurrentPosition());
                updateTelemetry(telemetry);
            }
        }

        robot.frontLeft.setPower(0);
        robot.frontRight.setPower(0);
        robot.backLeft.setPower(0);
        robot.backRight.setPower(0);
    }*/

}