B1AutoPark6128.java

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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

@Autonomous(name = "B1AutoPark6128", group = "Official")
//@Disabled
public class B1AutoPark6128 extends LinearOpMode {
    //start position B1, park outside along the wall


    //basic set up  code for search: 1001
    private static final double DRIVE_SPEED = .4, TURN_SPEED = .4, SIDE_SPEED = .3;

    private Config6128 robot = new Config6128(this);

    public void runOpMode() {
        //basic set up code1001
        robot.ConfigureRobtHardware();
        robot.resetMotorsForAutonomous(robot.left_back, robot.left_front, robot.right_back, robot.right_front);

        robot.status("ready");
        waitForStart();

        /*
        robot.DriveForward(DRIVE_SPEED, 10,2);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED, -10,2);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED, 30,4);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED,-30,4);
        */


        robot.DriveForward(DRIVE_SPEED, 6,2);
        sleep(1000);
        robot.servo_0.setPosition(robot.r0_middle);
        robot.servo_1.setPosition(robot.l1_middle);
        robot.TurnByImu(TURN_SPEED,90*robot.team,2);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED,28,2);
        sleep(1000);
        robot.DriveLeft(SIDE_SPEED,7*robot.team,2);
        sleep(1000);





    }

}