ftc2024-robotcode/ftc2024_autonome_api.java

package org.firstinspires.ftc.teamcode;

import fr.werobot.ftc2024.robotcontrol.FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;

import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous

public class ftc2024_autonome_api extends LinearOpMode {
    public String autonomous_mode;
    public DcMotor lm;
    public DcMotor rm;
    public DcMotor harvestmotor;
    public IMU imu;
	public YawPitchRollAngle robotOrientation;
    
    @Override
    public void runOpMode() {
	lm = hardwareMap.get(DcMotor.class, "blm");
	rm = hardwareMap.get(DcMotor.class, "brm");
	harvestmotor = hardwareMap.get(DcMotor.class, "flm");

	rm.setDirection(DcMotor.Direction.REVERSE);

	imu = hardwareMap.get(IMU.class, "imu");
	imu.initialize(
		new IMU.Parameters(
		    new RevHubOrientationOnRobot(
			RevHubOrientationOnRobot.LogoFacingDirection.UP,
			RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
			)
		    )
		);
	imu.resetYaw();
	// YawPitchRollAngle robotOrientation; // FTC2024WeRobotControl à besoin de robotOrientation comme variable de Parent (donc de cette classe actuelle), n'est il pas posible de définir robotOrientation dans la classe?
	FTC2024WeRobotControl robot = FTC2024WeRobotControl(this);

	waitForStart();
	robotOrientation = imu.getYawPitchRollAngles();

	if(opModeIsRunning()){
	    /*
	     * autonomous_mode differents possibles values respect the next scheme:
	     * team_color_shortcode + start_line_index + direct_or_no
	     *
	     * team_color_shortcode = "b" for blue & "r" for red
	     * start_line_index = 4 or 2 see competition manual appendix B Tile location plan
	     * direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone
	     *
	     * default is "b4d"
	     */
	    switch (autonomous_mode){
		default: 
		    robot.forward(0.5);
		    robot.rotate((-90));
		    robot.forward(1.5);
		    robot.harvest(-1);
		    robot.backward(1);
		    robot.harvest(0);
		    break;
		case ("b2d"):
		    robot.forward(0.5);
		    robot.rotate((-90));
		    robot.forward(2.5);
		    robot.harvest(-1);
		    robot.backward(1);
		    robot.harvest(0);
		    break;
		case ("r4d"):
			robot.forward(0.5);
			robot.rotate(90);
			robot.forward(1.5);
			robot.harvest(-1);
			robot.backward(1);
			robot.harvest(0);
		    break;
		case ("r2d"):
			robot.forward(0.5);
			robot.rotate(90);
			robot.forward(2.5);
			robot.harvest(-1);
			robot.backward(1);
			robot.harvest(0);
		    break;
		case ("b4n"):
			robot.forward(1.5);
			robot.rotate(90);
			robot.harvest();
			robot.forward(3);
			robot.harvest(0);
			robot.rotate(180);
			robot.forward(1);
			robot.rotate(-90);
			robot.forward(1);
			robot.rotate(90);
			robot.forward(2.5);
			robot.harvest(-1);
		    robot.backward(1);
		    robot.harvest(0);
		    break;
		case ("b2n"):
			robot.forward(1.5);
			robot.rotate(90);
			robot.harvest();
			robot.forward(1);
			robot.harvest(0);
			robot.rotate(180);
			robot.forward(1);
			robot.rotate(-90);
			robot.forward(1);
			robot.rotate(90);
			robot.forward(2.5);
			robot.harvest(-1);
			robot.backward(1);
			robot.harvest(0);
		    break;
		case ("r4n"):
			robot.forward(1.5);
			robot.rotate(-90);
			robot.harvest();
			robot.forward(3);
			robot.harvest(0);
			robot.rotate(180);
			robot.forward(1);
			robot.rotate(90);
			robot.forward(1);
			robot.rotate(-90);
			robot.forward(2.5);
			robot.harvest(-1);
		    robot.backward(1);
		    robot.harvest(0);
		    break;
		case ("r2n"):
			robot.forward(1.5);
			robot.rotate(-90);
			robot.harvest();
			robot.forward(1);
			robot.harvest(0);
			robot.rotate(180);
			robot.forward(1);
			robot.rotate(90);
			robot.forward(1);
			robot.rotate(-90);
			robot.forward(2.5);
			robot.harvest(-1);
			robot.backward(1);
			robot.harvest(0);
			break;
	    }
	}
    }
}