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2 changed files with 28 additions and 112 deletions
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68
FGC_2024.java
View file

@ -1,39 +1,44 @@
package org.firstinspires.ftc.teamcode; 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.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.Gamepad;
import com.qualcomm.robotcore.hardware.DcMotorEx; 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.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot; import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; 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.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation; import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position; import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity; import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
dqsdqs
@TeleOp(name = "FGC2024", group = "WeRobot") @TeleOp(name = "FGC2024", group = "WeRobot")
public class FGC_2024 extends LinearOpMode { public class FGC_2024 extends LinearOpMode {
private DcMotorEx rm; private DcMotorEx rm;
private DcMotorEx lm; private DcMotorEx lm;
private DcMotorEx elv1; private DcMotorEx elv1;
//private DcMotorEx elv2; //private DcMotorEx elv2;
//private DcMotorEx elv3; //private DcMotorEx elv3;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
telemetry.addData("Status"," Initialized"); telemetry.addData("Status"," Initialized");
telemetry.update(); telemetry.update();
@ -44,17 +49,15 @@ 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;
boolean already_down = false; boolean already_down = false;
int hauteur = 0;
waitForStart(); waitForStart();
while(opModeIsActive()){ while(opModeIsActive()){
@ -78,35 +81,19 @@ public class FGC_2024 extends LinearOpMode {
lpower = lpower*gamepad1.right_trigger; lpower = lpower*gamepad1.right_trigger;
rpower = rpower*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); elv1.setVelocity(250);
// elv2.setVelocity(250); // elv2.setVelocity(250);
// elv3.setVelocity(250); // elv3.setVelocity(250);
elv1.setTargetPosition(elv1.getCurrentPosition()+277); elv1.setTargetPosition(elv1.getCurrentPosition()+10);
// elv2.setTargetPosition(elv2.getCurrentPosition()+15); // elv2.setTargetPosition(elv2.getCurrentPosition()+15);
// elv3.setTargetPosition(elv3.getCurrentPosition()+15); // elv3.setTargetPosition(elv3.getCurrentPosition()+160);
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;
already_up = !already_up; already_up = !already_up;
@ -114,17 +101,18 @@ public class FGC_2024 extends LinearOpMode {
already_up = false; already_up = false;
} }
if (gamepad1.dpad_down && !already_up && hauteur>0){ if (gamepad1.dpad_down && !already_up && i>0){
elv1.setVelocity(250); elv1.setVelocity(250);
//elv2.setVelocity(250); elv2.setVelocity(250);
//elv3.setVelocity(250); elv3.setVelocity(250);
elv1.setTargetPosition(elv1.getCurrentPosition()-277); elv1.setTargetPosition(elv1.getCurrentPosition()-10);
// elv2.setTargetPosition(elv2.getCurrentPosition()-15); elv2.setTargetPosition(elv2.getCurrentPosition()-15);
// elv3.setTargetPosition(elv3.getCurrentPosition()-15); elv3.setTargetPosition(elv3.getCurrentPosition()-160);
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;
already_down = !already_down; already_down = !already_down;

72
MaxSpeed.java
View file

@ -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;
}
}