RRBotAutoDriveByEncoder_Linear.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous(name="Auto Drive 15in", group="OpMode")
public class RRBotAutoDriveByEncoder_Linear extends LinearOpMode {

    /* Declare OpMode members. */
    private ElapsedTime     runtime = new ElapsedTime();

    RRBotHardware robot = new RRBotHardware();
    RRBotBasicSwerve drive = new RRBotBasicSwerve(robot);

    //private static final double kInchesPerEncoderTick = 0.2691447979;

    @Override
    public void runOpMode() {

        robot.init(hardwareMap);

//        // Send telemetry message to indicate successful Encoder reset
//        telemetry.addData("Starting at",  "%7d :%7d",
//                          leftDrive.getCurrentPosition(),
//                          rightDrive.getCurrentPosition());
        robot.frontLeftTurn.setPosition(0.5);
        robot.frontRightTurn.setPosition(0.5);
        robot.rearLeftTurn.setPosition(0.5);
        robot.rearRightTurn.setPosition(0.5);

        robot.frontLeftDrive.setPower(0);
        robot.frontRightDrive.setPower(0);
        robot.rearLeftDrive.setPower(0);
        robot.rearRightDrive.setPower(0);


        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        drive.swerveInches(50, 0.5);

        telemetry.addData("Path", "Complete");
        telemetry.update();
    }
}