hell

FGC_2024.java

@@ -1,44 +1,39 @@
 package org.firstinspires.ftc.teamcode;
-
+// https://prod.liveshare.vsengsaas.visualstudio.com/join?03587C25F0BC652DEF22BF0B00ACEDD85FD3
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import com.qualcomm.robotcore.robot.Robot;
-
+import com.qualcomm.robotcore.robot.Robot;
-import java.text.spi.DecimalFormatSymbolsProvider;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-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();
 
@@ -49,15 +44,17 @@ 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()){
@@ -81,19 +78,35 @@ 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 && i<3){
+            if (gamepad1.dpad_up && !already_up){
 
                 elv1.setVelocity(250);
                 // elv2.setVelocity(250);
                 // elv3.setVelocity(250);
-                elv1.setTargetPosition(elv1.getCurrentPosition()+10);
+                elv1.setTargetPosition(elv1.getCurrentPosition()+277);
                 // elv2.setTargetPosition(elv2.getCurrentPosition()+15);
-                // elv3.setTargetPosition(elv3.getCurrentPosition()+160);
+                // elv3.setTargetPosition(elv3.getCurrentPosition()+15);
                 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;
 
@@ -101,18 +114,17 @@ public class FGC_2024 extends LinearOpMode {
                 already_up = false;
             }
 
-            if (gamepad1.dpad_down && !already_up && i>0){
+            if (gamepad1.dpad_down && !already_up && hauteur>0){
 
                 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);
-                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;
 

MaxSpeed.java

@@ -0,0 +1,72 @@
+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;
+    }
+
+}
+