werobot/ftc2024-robotcode
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Ajout mode elina

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Zelina974 2024-01-07 15:16:58 +01:00 committed by GitHub
parent 636397f934
commit 0cbc68e0e9
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1 changed files with 10 additions and 0 deletions
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ftc2024-carlike.java
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@ -25,6 +25,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
double y; double y;
double t; double t;
double t2; double t2;
double t3;
String mode = "normal"; String mode = "normal";
boolean already_a = false; boolean already_a = false;
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
@ -40,12 +41,15 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
y = gamepad1.left_stick_y; y = gamepad1.left_stick_y;
t= gamepad1.right_trigger; t= gamepad1.right_trigger;
t2 = helloexp(t); t2 = helloexp(t);
t3 = helloexp(Math.sqrt(x^2+y^2))
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
if(gamepad1.a && !already_a){ if(gamepad1.a && !already_a){
if(mode=="normal"){ if(mode=="normal"){
mode="tank"; mode="tank";
}else if(mode=="tank"){ }else if(mode=="tank"){
mode = "essaifranck"; mode = "essaifranck";
}else if (mode == "essaifranck"){
mode = "elina";
}else{ }else{
mode="normal"; mode="normal";
} }
@ -73,6 +77,12 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
lpower = (a/vmean)*t2; lpower = (a/vmean)*t2;
rpower = (b/vmean)*t2; rpower = (b/vmean)*t2;
} }
else if (mode=="elina"){
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
lpower = (a/vmean)*t3
rpower = (b/vmean)*t3
if(!(gamepad1.left_bumper)){ if(!(gamepad1.left_bumper)){
lpower/=3; lpower/=3;
rpower/=3; rpower/=3;