SetVolocity.java

// set volocity is a better way to move the robot instead of using set power, especially for autonomous.
/*
This example code was found on game manuel zero
at https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html
 */

package org.firstinspires.ftc.teamcode.reference.gm0_examples;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;

@TeleOp
public class SetVolocity extends LinearOpMode {
    @Override
    public void runOpMode() throws InterruptedException {
        // Declare our motors
        // Make sure your ID's match your configuration
        DcMotor frontLeftMotor = hardwareMap.dcMotor.get("fl");
        DcMotor backLeftMotor = hardwareMap.dcMotor.get("bl");
        DcMotor frontRightMotor = hardwareMap.dcMotor.get("fr");
        DcMotor backRightMotor = hardwareMap.dcMotor.get("br");

        // Reverse the right side motors. This may be wrong for your setup.
        // If your robot moves backwards when commanded to go forwards,
        // reverse the left side instead.
        // See the note about this earlier on this page.
        frontRightMotor.setDirection(DcMotorSimple.Direction.REVERSE);
        backRightMotor.setDirection(DcMotorSimple.Direction.REVERSE);

        waitForStart();

        if (isStopRequested()) return;

        while (opModeIsActive()) {
            int speed = 5000;

            frontLeftMotor.setVolocity(speed);
            backLeftMotor.setVolocity(speed);
            frontRightMotor.setVolocity(speed);
            backRightMotor.setVolocity(speed);
        }
    }
}