diff --git a/FGC_2024.java b/FGC_2024.java index 2cd64e6..6a930b7 100644 --- a/FGC_2024.java +++ b/FGC_2024.java @@ -1,39 +1,44 @@ package org.firstinspires.ftc.teamcode; -// https://prod.liveshare.vsengsaas.visualstudio.com/join?03587C25F0BC652DEF22BF0B00ACEDD85FD3 -import com.qualcomm.robotcore.robot.Robot; -import com.qualcomm.robotcore.robot.Robot; + import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; +import com.qualcomm.robotcore.robot.Robot; + +import java.text.spi.DecimalFormatSymbolsProvider; + +import org.firstinspires.ftc.robotcore.external.Telemetry; import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.robot.Robot; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.Servo; + import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; - -import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; import org.firstinspires.ftc.robotcore.external.navigation.Orientation; import org.firstinspires.ftc.robotcore.external.navigation.Position; import org.firstinspires.ftc.robotcore.external.navigation.Velocity; -dqsdqs + @TeleOp(name = "FGC2024", group = "WeRobot") public class FGC_2024 extends LinearOpMode { - + private DcMotorEx rm; private DcMotorEx lm; private DcMotorEx elv1; //private DcMotorEx elv2; //private DcMotorEx elv3; + @Override public void runOpMode() throws InterruptedException { + telemetry.addData("Status"," Initialized"); telemetry.update(); @@ -44,17 +49,15 @@ public class FGC_2024 extends LinearOpMode { //rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); elv1 = hardwareMap.get(DcMotorEx.class, "elv1"); elv1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); - elv1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); //elv2 = hardwareMap.get(DcMotorEx.class, "elv2"); //elv2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); - //elv2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); //elv3 = hardwareMap.get(DcMotorEx.class, "elv3"); //elv3.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); - //elv3.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); boolean already_up = false; boolean already_down = false; + int hauteur = 0; waitForStart(); while(opModeIsActive()){ @@ -78,35 +81,19 @@ public class FGC_2024 extends LinearOpMode { lpower = lpower*gamepad1.right_trigger; rpower = rpower*gamepad1.right_trigger; } - if(gamepad1.dpad_right){ - elv1.setVelocity(20); - elv1.setTargetPosition(elv1.getCurrentPosition()+1); - elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); - } - if(gamepad1.dpad_left){ - elv1.setVelocity(20); - elv1.setTargetPosition(elv1.getCurrentPosition()-1); - elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); - } - if(gamepad1.right_bumber && gamepad1.dpad_down){ - elv1.setVelocity(0); - elv1.setTargetPosition(elv1.getCurrentPosition()); - elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); - } - telemetry.addData("targetPos",elv1.getTargetPosition()); - telemetry.addData("pos", elv1.getCurrentPosition()) - if (gamepad1.dpad_up && !already_up){ + if (gamepad1.dpad_up && !already_up && i<3){ elv1.setVelocity(250); // elv2.setVelocity(250); // elv3.setVelocity(250); - elv1.setTargetPosition(elv1.getCurrentPosition()+277); + elv1.setTargetPosition(elv1.getCurrentPosition()+10); // elv2.setTargetPosition(elv2.getCurrentPosition()+15); - // elv3.setTargetPosition(elv3.getCurrentPosition()+15); + // elv3.setTargetPosition(elv3.getCurrentPosition()+160); elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION); // elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION); + hauteur += 1; already_up = !already_up; @@ -114,17 +101,18 @@ public class FGC_2024 extends LinearOpMode { already_up = false; } - if (gamepad1.dpad_down && !already_up && hauteur>0){ + if (gamepad1.dpad_down && !already_up && i>0){ elv1.setVelocity(250); - //elv2.setVelocity(250); - //elv3.setVelocity(250); - elv1.setTargetPosition(elv1.getCurrentPosition()-277); - // elv2.setTargetPosition(elv2.getCurrentPosition()-15); - // elv3.setTargetPosition(elv3.getCurrentPosition()-15); + elv2.setVelocity(250); + elv3.setVelocity(250); + elv1.setTargetPosition(elv1.getCurrentPosition()-10); + elv2.setTargetPosition(elv2.getCurrentPosition()-15); + elv3.setTargetPosition(elv3.getCurrentPosition()-160); elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION); - // elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION); - // elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION); + elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION); + elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION); + hauteur -= 1; already_down = !already_down; diff --git a/MaxSpeed.java b/MaxSpeed.java deleted file mode 100644 index 2e9c6fc..0000000 --- a/MaxSpeed.java +++ /dev/null @@ -1,72 +0,0 @@ -package org.firstinspires.ftc.teamcode; -import java.io.File; // Import the File class -import java.io.IOException; // Import the IOException class to handle errors -import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.robotcore.external.Telemetry; -import com.qualcomm.robotcore.robot.Robot; -import com.qualcomm.robotcore.hardware.DcMotorEx; - - -@TeleOp -public class MaxVelocityTest extends LinearOpMode { - DcMotorEx motor; - double currentVelocity; - double maxVelocity = 0.0; - - - @Override - public void runOpMode() { - motor = hardwareMap.get(DcMotorEx.class, "elv1"); - motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - motor.setPower(1); - waitForStart(); - - - while (opModeIsActive()) { - currentVelocity = motor.getVelocity(); - - if (currentVelocity > maxVelocity) { - maxVelocity = currentVelocity; - } - - telemetry.addData("current velocity", currentVelocity); - telemetry.addData("maximum velocity", maxVelocity); - telemetry.update(); - } - } - private void writeFile(String filename, String content){ - File file = getFile(filename); - FileOutputStream stream = new FileOutputStream(file); - try { - stream.write(content.getBytes()); - } finally { - stream.close(); - } - } - private File getFile(String filename){ - File file = new File(filename); - try{ - file.createNewFile(); - } - return file; - } - - private String readFile(String filename){ - File file = getFile(filename); - int length = (int) file.length(); - - byte[] bytes = new byte[length]; - - FileInputStream in = new FileInputStream(file); - try { - in.read(bytes); - } finally { - in.close(); - } - - String contents = new String(bytes); - return contents; - } - -} -