From 28feb3edcba4c63c6c1d1ddc69e778a7595b33b3 Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 11 Feb 2024 16:42:14 +0100 Subject: [PATCH] updates --- ftc2024-autonome.java | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java index 6c28306..726c582 100644 --- a/ftc2024-autonome.java +++ b/ftc2024-autonome.java @@ -70,6 +70,8 @@ public class ftc2024_autonome extends LinearOpMode { double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES); double Roll = robotOrientation.getRoll(AngleUnit.DEGREES); + + double yaw_sortie; // Wait for the game to start (driver presses PLAY) waitForStart(); @@ -80,14 +82,17 @@ public class ftc2024_autonome extends LinearOpMode { while (opModeIsActive() && Yaw <= 90.0) { lm.setPower(0.5); rm.setPower(-0.5); + robotOrientation = imu.getRobotYawPitchRollAngles(); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); - telemetry.addData("Leg 1", runtime.seconds()); + telemetry.addData("Yaw : ", Yaw); telemetry.update(); + yaw_sortie = Yaw; } + telemetry.addData("yaw_sortie", yaw_sortie) runtime.reset(); while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) { - lm.setPower(1); - rm.setPower(1); + lm.setPower(0.1); + rm.setPower(0.1); telemetry.addData("Leg 2", runtime.seconds()); telemetry.update(); }