werobot/ftc2024-robotcode
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Zelina974 2024-04-01 15:54:55 +02:00
parent 6eed14fe81
commit 1a0336c631
1 changed files with 33 additions and 5 deletions
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36
ftc_new.java
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@ -24,7 +24,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@TeleOp(name = "WeRobot: FTC2024 Carlike", group = "WeRobot")
public class Werobot_FTC2024_carlike extends LinearOpMode {
public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
@ -64,9 +64,10 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
boolean already_y = false;
boolean already_up = false;
boolean already_down = false;
boolean already_ps = false;
boolean sinking = false;
boolean manualMode = false;
boolean firstLaunch = true;
telemetry.addData("Status", "Initialized");
@ -252,6 +253,13 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
already_down = false;
}
if (gamepad1.ps && !already_ps){
manualMode = !manualMode;
already_ps = true;
} else if (!gamepad1.ps && already_ps){
already_ps = false;
}
// commentaires supprimés dans le robot
// if (gamepad1.x && !already_x){
@ -308,10 +316,28 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
// activation rotation
if (!gamepad1.y && already_y) {
if (manualMode){
lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
if (gamepad1.dpad_up){
rmelevator.setPower(0.3);
lmelevator.setPower(0.3);
} else if (gamepad1.dpad_down){
lmelevator.setPower(-0.3);
rmelevator.setPower(-0.3);
} else {
lmelevator.setPower(0);
rmelevator.setPower(0);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
}
}
if (!gamepad1.y && already_y && !manualMode) {
already_y = false;
}
if (gamepad1.y && !already_y){
if (gamepad1.y && !already_y && !manualMode){
already_y = true;
int pos = rotation.getCurrentPosition();
rotation.setVelocity(200);
@ -338,6 +364,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
telemetry.addData("ltrigg", t);
telemetry.addData("t2", t2);
telemetry.addData("rotation power",boxRot);
telemetry.addData("Position elevateur l", lmelevator.getCurrentPosition());
telemetry.addData("Position elevateur r", rmelevator.getCurrentPosition());
telemetry.addData("Position rotation",rotation.getCurrentPosition());
telemetry.addData("Position box",box.getCurrentPosition());
telemetry.addData("box velocity",rotation.getVelocity());