park autos?

TeamCode/build.gradle

@@ -16,7 +16,21 @@ apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
 
 android {
+
+    defaultConfig {
+        externalNativeBuild {
+            cmake {
+                cppFlags ''
+            }
+        }
+    }
     namespace = 'org.firstinspires.ftc.teamcode'
+    externalNativeBuild {
+        cmake {
+            path file('src/main/cpp/CMakeLists.txt')
+            version '3.18.1'
+        }
+    }
 
     packagingOptions {
         jniLibs.useLegacyPackaging true

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/blueLeftAuto.java

@@ -13,7 +13,7 @@ import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
 import org.firstinspires.ftc.teamcode.util.CameraPosition;
 
 @Autonomous(name = "Blue Left", group = "Left Start", preselectTeleOp = "Khang Main")
-public class blueLeftAuto {
+public class blueLeftAuto extends AbstractAuto{
     public SampleMecanumDrive drive;
     public Robot robot;
     public Camera camera;
@@ -21,6 +21,9 @@ public class blueLeftAuto {
     public CameraPosition cameraPosition;
     public Trajectory start;
 
+    @Override
+    public void setAlliance() {}
+
     public void Robot(HardwareMap hardwareMap) {
         //set to new Drive to revert
         drive = new SampleMecanumDrive(hardwareMap);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoBlue.java

@@ -0,0 +1,48 @@
+package org.firstinspires.ftc.teamcode.opmode.autonomous;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.hardware.Camera;
+import org.firstinspires.ftc.teamcode.hardware.Drive;
+import org.firstinspires.ftc.teamcode.hardware.Robot;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.util.CameraPosition;
+
+@Autonomous(name = "Blue Left Park", group = "Left Start", preselectTeleOp = "Khang Main")
+public class parkAutoBlue extends AbstractAuto{
+    public SampleMecanumDrive drive;
+    public Robot robot;
+    public Camera camera;
+    private boolean camEnabled = true;
+    public CameraPosition cameraPosition;
+    public Trajectory start;
+
+    @Override
+    public void setAlliance() {}
+
+    public void Robot(HardwareMap hardwareMap) {
+        //set to new Drive to revert
+        drive = new SampleMecanumDrive(hardwareMap);
+        camera = new Camera(hardwareMap);
+        camera.initTargetingCamera();
+        camEnabled = true;
+    }
+
+    @Override
+    public void makeTrajectories() {
+
+        // positions
+        Pose2d start = new Pose2d(-65.125,6,Math.toRadians(180));
+        drive.setPoseEstimate(start);
+
+        Trajectory park = drive.trajectoryBuilder(start)
+                .splineTo(new Vector2d(-65.125,60), Math.toRadians(180))
+                .build();
+
+        drive.followTrajectory(park);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/parkAutoRed.java

@@ -0,0 +1,48 @@
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.hardware.Camera;
+import org.firstinspires.ftc.teamcode.hardware.Drive;
+import org.firstinspires.ftc.teamcode.hardware.Robot;
+import org.firstinspires.ftc.teamcode.opmode.autonomous.AbstractAuto;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.DriveConstants;
+import org.firstinspires.ftc.teamcode.roadrunner.drive.SampleMecanumDrive;
+import org.firstinspires.ftc.teamcode.util.CameraPosition;
+
+@Autonomous(name = "Red Right Park", group = "Right Start", preselectTeleOp = "Khang Main")
+public class parkAutoRed extends AbstractAuto {
+    public SampleMecanumDrive drive;
+    public Robot robot;
+    public Camera camera;
+    private boolean camEnabled = true;
+    public CameraPosition cameraPosition;
+    public Trajectory start;
+
+    @Override
+    public void setAlliance() {}
+
+    public void Robot(HardwareMap hardwareMap) {
+        //set to new Drive to revert
+        drive = new SampleMecanumDrive(hardwareMap);
+        camera = new Camera(hardwareMap);
+        camera.initTargetingCamera();
+        camEnabled = true;
+    }
+
+    @Override
+    public void makeTrajectories() {
+
+        // positions
+        Pose2d start = new Pose2d(65.125,6,Math.toRadians(180));
+        drive.setPoseEstimate(start);
+
+        Trajectory park = drive.trajectoryBuilder(start)
+                .splineTo(new Vector2d(65.125,60), Math.toRadians(180))
+                .build();
+
+        drive.followTrajectory(park);
+    }
+}

build.gradle

@@ -11,7 +11,7 @@ buildscript {
     }
     dependencies {
         // Note for FTC Teams: Do not modify this yourself.
-        classpath 'com.android.tools.build:gradle:7.2.0'
+        classpath 'com.android.tools.build:gradle:7.2.2'
     }
 }