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GZod01 2024-02-11 15:10:49 +01:00
parent 6d2ed0fb44
commit 2c42078e53
2 changed files with 214 additions and 213 deletions
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144
ftc2024-autonome.java
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@ -17,82 +17,82 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous
public class ftc2024_autonome extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
private ElapsedTime runtime = new ElapsedTime();
private DcMotor rm;
private DcMotor lm;
private ElapsedTime runtime = new ElapsedTime();
public double time_for_dist(double speed, double dist){
return (double) (dist/speed);
}
public double time_for_dist(double speed, double dist){
return (double) (dist/speed);
}
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
double tour_par_minute = 300.0;
double wheel_width = 9.0e-2;
double wheel_rayon = (wheel_width)/2;
double wheel_perimeter = wheel_rayon*2*Math.PI;
double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
boolean mode = false;
// Wait for the game to start (driver presses PLAY)
waitForStart();
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
double tour_par_minute = 300.0;
double wheel_width = 9.0e-2;
double wheel_rayon = (wheel_width)/2;
double wheel_perimeter = wheel_rayon*2*Math.PI;
double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
boolean mode = false;
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
else {
double[][] operations = {
{-1.0,1.0}, // vectors
{1.0,1.0},
{-1.0,1.0},
{-1.0,-1.0},
{1.0,-1.0}
};
//mode Aurelien
for(int i = 0; i<operations.length; i++){
double[] vec = operations[i];
double x = vec[0];
double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, time);
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
double lmvalue = (a/vmean);
double rmvalue = (b/vmean);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue);
rm.setPower(rmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i);
telemetry.update();
}
}
}
// run until the end of the match (driver presses STOP
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
else {
double[][] operations = {
{-1.0,1.0}, // vectors
{1.0,1.0},
{-1.0,1.0},
{-1.0,-1.0},
{1.0,-1.0}
};
//mode Aurelien
for(int i = 0; i<operations.length; i++){
double[] vec = operations[i];
double x = vec[0];
double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, total_dist);
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
double lmvalue = (a/vmean);
double rmvalue = (b/vmean);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue);
rm.setPower(rmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i);
telemetry.update();
}
}
}
// run until the end of the match (driver presses STOP
}
}
}