werobot/ftc2024-robotcode
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Zelina974 2024-02-11 16:42:14 +01:00
parent fb8f6ead0d
commit 28feb3edcb
1 changed files with 8 additions and 3 deletions
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11
ftc2024-autonome.java
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@ -71,6 +71,8 @@ public class ftc2024_autonome extends LinearOpMode {
double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES); double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
double Roll = robotOrientation.getRoll(AngleUnit.DEGREES); double Roll = robotOrientation.getRoll(AngleUnit.DEGREES);
double yaw_sortie;
// Wait for the game to start (driver presses PLAY) // Wait for the game to start (driver presses PLAY)
waitForStart(); waitForStart();
@ -80,14 +82,17 @@ public class ftc2024_autonome extends LinearOpMode {
while (opModeIsActive() && Yaw <= 90.0) { while (opModeIsActive() && Yaw <= 90.0) {
lm.setPower(0.5); lm.setPower(0.5);
rm.setPower(-0.5); rm.setPower(-0.5);
robotOrientation = imu.getRobotYawPitchRollAngles();
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Leg 1", runtime.seconds()); telemetry.addData("Yaw : ", Yaw);
telemetry.update(); telemetry.update();
yaw_sortie = Yaw;
} }
telemetry.addData("yaw_sortie", yaw_sortie)
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) { while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1); lm.setPower(0.1);
rm.setPower(1); rm.setPower(0.1);
telemetry.addData("Leg 2", runtime.seconds()); telemetry.addData("Leg 2", runtime.seconds());
telemetry.update(); telemetry.update();
} }