werobot/ftc2024-robotcode
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This commit is contained in:
GZod01 2024-02-11 16:34:07 +01:00
parent fb8f6ead0d
commit 101512a7dd
1 changed files with 16 additions and 1 deletions
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17
ftc2024-autonome.java
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@ -92,7 +92,22 @@ public class ftc2024_autonome extends LinearOpMode {
telemetry.update(); telemetry.update();
} }
} }
else { else{
while(opModeIsActive()){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
if(Math.abs(Yaw-90.0)<=0.01){
break;
}
else if((Yaw - 90.0) <0){
lm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
rm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
}
else{
rm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
lm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
}
if(false){
double[][] operations = { double[][] operations = {
{-1.0,1.0}, // vectors {-1.0,1.0}, // vectors
{1.0,1.0}, {1.0,1.0},