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Update autonome_api.java

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GZod01 2024-03-07 15:38:51 +01:00 committed by GitHub
parent da8cd904db
commit 2c0b72acfb
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1 changed files with 14 additions and 0 deletions
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autonome_api.java
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@ -50,6 +50,20 @@ public class ftc2024_autonome_api extends LinearOpMode {
lm.setPower(0);
rm.setPower(0);
}
public void rotate(double angle, double motor_speed=1.0){
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
angle = Math.toDegrees(Math.atan(Math.tan(Math.toRadians(angle))));
double left_multiplier = -( (double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed;
while(opModeIsActive() && (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle)){
m_power = //relative
lm.setPower(left_multiplier*m_power);
rm.setPower(right_multiplier*m_power);
}
lm.setPower(0);
rm.setPower(0);
}
@Override