werobot/fgc2024-robotcode
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Merge branch 'main' of https://forge.gzod01.fr/werobot/fgc2024-robotcode

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GZod01 2024-07-09 15:43:25 +02:00
commit 863d61307d
1 changed files with 14 additions and 11 deletions
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25
FGC_2024.java
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@ -49,10 +49,13 @@ public class FGC_2024 extends LinearOpMode {
//rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); //rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
elv1 = hardwareMap.get(DcMotorEx.class, "elv1"); elv1 = hardwareMap.get(DcMotorEx.class, "elv1");
elv1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); elv1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
elv1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
//elv2 = hardwareMap.get(DcMotorEx.class, "elv2"); //elv2 = hardwareMap.get(DcMotorEx.class, "elv2");
//elv2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); //elv2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
//elv2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
//elv3 = hardwareMap.get(DcMotorEx.class, "elv3"); //elv3 = hardwareMap.get(DcMotorEx.class, "elv3");
//elv3.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); //elv3.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
//elv3.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
boolean already_up = false; boolean already_up = false;
@ -82,14 +85,14 @@ public class FGC_2024 extends LinearOpMode {
rpower = rpower*gamepad1.right_trigger; rpower = rpower*gamepad1.right_trigger;
} }
if (gamepad1.dpad_up && !already_up && i<3){ if (gamepad1.dpad_up && !already_up && hauteur<3){
elv1.setVelocity(250); elv1.setVelocity(250);
// elv2.setVelocity(250); // elv2.setVelocity(250);
// elv3.setVelocity(250); // elv3.setVelocity(250);
elv1.setTargetPosition(elv1.getCurrentPosition()+10); elv1.setTargetPosition(elv1.getCurrentPosition()+277);
// elv2.setTargetPosition(elv2.getCurrentPosition()+15); // elv2.setTargetPosition(elv2.getCurrentPosition()+15);
// elv3.setTargetPosition(elv3.getCurrentPosition()+160); // elv3.setTargetPosition(elv3.getCurrentPosition()+15);
elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION);
@ -101,17 +104,17 @@ public class FGC_2024 extends LinearOpMode {
already_up = false; already_up = false;
} }
if (gamepad1.dpad_down && !already_up && i>0){ if (gamepad1.dpad_down && !already_up && hauteur>0){
elv1.setVelocity(250); elv1.setVelocity(250);
elv2.setVelocity(250); //elv2.setVelocity(250);
elv3.setVelocity(250); //elv3.setVelocity(250);
elv1.setTargetPosition(elv1.getCurrentPosition()-10); elv1.setTargetPosition(elv1.getCurrentPosition()-277);
elv2.setTargetPosition(elv2.getCurrentPosition()-15); // elv2.setTargetPosition(elv2.getCurrentPosition()-15);
elv3.setTargetPosition(elv3.getCurrentPosition()-160); // elv3.setTargetPosition(elv3.getCurrentPosition()-15);
elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION);
hauteur -= 1; hauteur -= 1;
already_down = !already_down; already_down = !already_down;