FtcRobotController/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutonomousopModeBlue.java at master · FTC-19743/FtcRobotController · GitHub

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package org.firstinspires.ftc.teamcode;

import org.firstinspires.ftc.teamcode.assemblies.Robot;
import org.firstinspires.ftc.teamcode.libs.teamUtil;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.util.RobotLog;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.RobotLog;

import org.firstinspires.ftc.teamcode.assemblies.TwoWheelDrive;
@Disabled
@Autonomous(name="Autonomous Blue Carousel")
public class AutonomousopModeBlue extends LinearOpMode {
    public static void log(String logString) {
        RobotLog.d("19743LOG:" + Thread.currentThread().getStackTrace()[3].getMethodName() + ": " + logString);
    }

    Robot robot;

    @Override
    public void runOpMode() {
        teamUtil.init(this);
        teamUtil.alliance = teamUtil.Alliance.BLUE;
        teamUtil.telemetry.addLine("Initializing Op Mode...please wait");
        teamUtil.telemetry.update();


        robot = new Robot();
        robot.armsCalibrated =false;
        robot.init(true);
        robot.detector.initialize();
        robot.detector.activate();
        int lastDetection = 0;
        int newDetection;
        while (!opModeIsActive()) {
            teamUtil.pause(250);
            newDetection = robot.detector.carouselDetect();
            if (newDetection > 0) {
                lastDetection = newDetection;
            }
            telemetry.addData("Detection Value: ", lastDetection);
            telemetry.update();


        }


        waitForStart();
        //code for blue alliance
        robot.doAuto(lastDetection);
    }
}