Strafing during autonomous

[10298Programmer]

I think your second set of whiles are off. The greater thans and less thans are reversed. When it starts, the current position (0) is less than tgLeft1Count * 24, so the while is never true. This explains the little twitch where the powers are set but the position is immediately reached. Hope this helps!

[mjurisch2017]

Not positive this will work, but we set all motor powers to zero before resetting our encoders. Try adding
robot.left1Motor.setPower(0);
robot.left2Motor.setPower(0);
robot.right1Motor.setPower(0);
robot.right2Motor.setPower(0);

before your stop and reset encoder step in step 4 of your program. Also you should not need the second set of stop and reset encoder lines.

[thensley]

Our robot strafes during teleop but not during our autonomous code. The robot drives backwards 14 inches then makes a twitch and the program ends, it should strafe right 24 inches. Here is our code.
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous ;
import com.qualcomm.robotcore.robot.Robot;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMo de;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous(name="Red_right_drive", group="Pushbot")
//@Disabled
public class Red_right_drive extends LinearOpMode {

/* Declare OpMode members. */
RobotHardware robot = new RobotHardware(); // Utilize RobotHardware to Access OpMode Members
private ElapsedTime runtime = new ElapsedTime();

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

// Telemetry Message During Robot Autonmous
telemetry.addData("Status", "Ready to run");
telemetry.update();

// Wait in Game
while (!opModeIsActive()&&!isStopRequested())
{telemetry.addData("Status", "Waiting in Init");
telemetry.update(); }

//Step One : Calculate the distance of travel based on encoders: 18 tics/inch

// Left Motors
int initLeft1Count = robot.left1Motor.getCurrentPosition();
int tgLeft1Count = initLeft1Count + 18;
int initLeft2Count = robot.left2Motor.getCurrentPosition();
int tgLeft2Count = initLeft2Count +18;

// Right Motors
int initRight1Count = robot.right1Motor.getCurrentPosition();
int tgRight1Count = initRight1Count + 18;
int initRight2Count = robot.right2Motor.getCurrentPosition();
int tgRight2Count = initRight2Count + 18;

{telemetry.addData("Status", "Step One Complete");
telemetry.update(); }


// Step Two : Stop and Reset Encoders

robot.left1Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.left2Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.right1Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);
robot.right2Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);

robot.left1Motor.setMode(DcMotor.RunMode.RUN_USING _ENCODER);
robot.left2Motor.setMode(DcMotor.RunMode.RUN_USING _ENCODER);
robot.right1Motor.setMode(DcMotor.RunMode.RUN_USIN G_ENCODER);
robot.right2Motor.setMode(DcMotor.RunMode.RUN_USIN G_ENCODER);

{telemetry.addData("Status", "Step Two Complete");
telemetry.update(); }


// Step Three : drive towards the foundation

robot.left1Motor.setPower(-.5);
robot.left2Motor.setPower(-.5);
robot.right1Motor.setPower(-.5);
robot.right2Motor.setPower(-.5);

while (opModeIsActive() && (robot.left1Motor.getCurrentPosition() > tgLeft1Count * -14)) ;
while (opModeIsActive() && (robot.left2Motor.getCurrentPosition() > tgLeft2Count * -14)) ;
while (opModeIsActive() && (robot.right1Motor.getCurrentPosition()> tgRight1Count * -14)) ;
while (opModeIsActive() && (robot.right2Motor.getCurrentPosition() > tgRight2Count * -14)) ;

{telemetry.addData("Status", "Step Three Complete");
telemetry.update(); }

//The program works great above this point!!!

// Step Four : Stop and Reset Encoders

robot.left1Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.left2Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.right1Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);
robot.right2Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);

sleep(1000);

{telemetry.addData("Status", "Step Four Complete");
telemetry.update(); }

//NOTHING BELOW THIS POINT WORKS...
// Step Five : Drive Forward Towards Foundation
//
robot.left1Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.left2Motor.setMode(DcMotor.RunMode.STOP_AND_ RESET_ENCODER);
robot.right1Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);
robot.right2Motor.setMode(DcMotor.RunMode.STOP_AND _RESET_ENCODER);

robot.left1Motor.setMode(DcMotor.RunMode.RUN_USING _ENCODER);
robot.left2Motor.setMode(DcMotor.RunMode.RUN_USING _ENCODER);
robot.right1Motor.setMode(DcMotor.RunMode.RUN_USIN G_ENCODER);
robot.right2Motor.setMode(DcMotor.RunMode.RUN_USIN G_ENCODER);

robot.left1Motor.setPower(.5);
robot.left2Motor.setPower(-.5);
robot.right1Motor.setPower(-.5);
robot.right2Motor.setPower(.5);

while (opModeIsActive() && (robot.left1Motor.getCurrentPosition() > tgLeft1Count * 24)) ;
while (opModeIsActive() && (robot.left2Motor.getCurrentPosition() < tgLeft2Count * -24)) ;
while (opModeIsActive() && (robot.right1Motor.getCurrentPosition() < tgRight1Count * -24)) ;
while (opModeIsActive() && (robot.right2Motor.getCurrentPosition() > tgRight2Count * 24)) ;