werobot/ftc2024-robotcode
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updates

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Zelina974 2024-02-11 16:17:58 +01:00
parent 6f7b315ea6
commit 08cdb2a091
1 changed files with 100 additions and 94 deletions
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ftc2024-autonome.java
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@ -14,6 +14,7 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime; import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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.navigation.AngleUnit; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@ -62,15 +63,24 @@ public class ftc2024_autonome extends LinearOpMode {
double wheel_perimeter = wheel_rayon*2*Math.PI; double wheel_perimeter = wheel_rayon*2*Math.PI;
double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
boolean mode = true; boolean mode = true;
YawPitchRollAngles robotOrientation;
robotOrientation = imu.getRobotYawPitchRollAngles();
double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
double Roll = robotOrientation.getRoll(AngleUnit.DEGREES);
// Wait for the game to start (driver presses PLAY) // Wait for the game to start (driver presses PLAY)
waitForStart(); waitForStart();
runtime.reset(); runtime.reset();
if (mode){ if (mode){
//mode Elina //mode Elina
while (opModeIsActive() && (runtime.seconds() <= Yaw != 90)) { while (opModeIsActive() && Yaw <= 90.0) {
lm.setPower(1); lm.setPower(0.5);
rm.setPower(-1); rm.setPower(-0.5);
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Leg 1", runtime.seconds()); telemetry.addData("Leg 1", runtime.seconds());
telemetry.update(); telemetry.update();
} }
@ -115,14 +125,10 @@ public class ftc2024_autonome extends LinearOpMode {
} }
} }
} }
YawPitchRollAngles robotOrientation;
robotOrientation = imu.getRobotYawPitchRollAngles();
// Now use these simple methods to extract each angle // Now use these simple methods to extract each angle
// (Java type double) from the object you just created: // (Java type double) from the object you just created:
double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
double Roll = robotOrientation.getRoll(AngleUnit.DEGREES);
telemetry.addData("yaw",Yaw); telemetry.addData("yaw",Yaw);
telemetry.update(); telemetry.update();