PrettySimpleAutonomous.java

package org.firstinspires.ftc.teamcode.autonomous;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

@Autonomous
public class PrettySimpleAutonomous extends LinearOpMode {

    private final int LF = 0, LR = 1, RF = 2, RR = 3;
    private DcMotor[] motors;
    private static final String[] motorNames = {"Left Front", "Left Rear", "Right Front", "Right Rear"};
    private static final double distancePerTick = 0.00875; /* inches */

    private void initializeMotors() {
        // initialize motors
        motors = new DcMotor[4];
        int i = 0;
        for(String deviceName : motorNames) {
            motors[i] = hardwareMap.get(DcMotor.class, deviceName);
            motors[i].setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        }

        // reverse left motors so that we get the directional output we "expect"
        motors[LF].setDirection(DcMotorSimple.Direction.REVERSE);
        motors[LR].setDirection(DcMotorSimple.Direction.REVERSE);
    }
    
    private boolean motorsAreBusy() {
        for (DcMotor motor: motors) {
            if (motor.isBusy()) return true;
        }
        return false;
    }

    private void driveDistanceInInches(double distance) {
        // set target distance (in ticks)
        int encoderDistanceInTicks = (int) (distance / distancePerTick);
        for (DcMotor motor: motors) {
            motor.setTargetPosition(motor.getCurrentPosition() + encoderDistanceInTicks);
            motor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
            motor.setPower(0.5); // half-speed
        }
        while (opModeIsActive() && motorsAreBusy()) { /* wait */ }
        for (DcMotor motor: motors) {
            motor.setPower(0);
        }
    }

    @Override
    public void runOpMode() throws InterruptedException {
        initializeMotors();
        waitForStart();
        driveDistanceInInches(24);
    }
}