werobot/ftc2024-robotcode
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Zelina974 2024-04-05 16:47:18 +02:00
parent 6b385dc189
commit 2f476afc66
1 changed files with 157 additions and 141 deletions
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18
ftc2024_autonome_api.java
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@ -3,6 +3,7 @@ package org.firstinspires.ftc.teamcode;
//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne //import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
@ -25,16 +26,21 @@ public class Ftc2024_autonome_api extends LinearOpMode {
public String autonomous_mode; public String autonomous_mode;
public DcMotor lm; public DcMotor lm;
public DcMotor rm; public DcMotor rm;
public DcMotorEx lmelevator;
public DcMotorEx rmelevator;
public DcMotor harvestmotor; public DcMotor harvestmotor;
public IMU imu; public IMU imu;
public DcMotorEx rotation;
@Override @Override
public void runOpMode() { public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse"); harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
rm.setDirection(DcMotor.Direction.REVERSE); rm.setDirection(DcMotor.Direction.REVERSE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
imu = hardwareMap.get(IMU.class, "imu"); imu = hardwareMap.get(IMU.class, "imu");
imu.initialize( imu.initialize(
@ -50,12 +56,14 @@ public class Ftc2024_autonome_api extends LinearOpMode {
telemetry.addData("wait for start", ""); telemetry.addData("wait for start", "");
telemetry.update(); telemetry.update();
waitForStart(); waitForStart();
telemetry.addData("started", ""); telemetry.addData("started", "");
telemetry.update(); telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles(); robotOrientation = imu.getRobotYawPitchRollAngles();
if (opModeIsRunning()) { if (opModeIsActive()) {
/* /*
* autonomous_mode differents possibles values respect the next scheme: * autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no * team_color_shortcode + start_line_index + direct_or_no
@ -70,6 +78,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
*/ */
switch (autonomous_mode) { switch (autonomous_mode) {
default: default:
robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate((-90)); robot.rotate((-90));
robot.forward(1.5); robot.forward(1.5);
@ -78,6 +87,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("b2d"): case ("b2d"):
robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate((-90)); robot.rotate((-90));
robot.forward(2.5); robot.forward(2.5);
@ -86,6 +96,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("r4d"): case ("r4d"):
robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90);
robot.forward(1.5); robot.forward(1.5);
@ -94,6 +105,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("r2d"): case ("r2d"):
robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90);
robot.forward(2.5); robot.forward(2.5);
@ -102,6 +114,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("b4n"): case ("b4n"):
robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(90); robot.rotate(90);
robot.harvest(); robot.harvest();
@ -118,6 +131,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("b2n"): case ("b2n"):
robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(90); robot.rotate(90);
robot.harvest(); robot.harvest();
@ -134,6 +148,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("r4n"): case ("r4n"):
robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(-90); robot.rotate(-90);
robot.harvest(); robot.harvest();
@ -150,6 +165,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0); robot.harvest(0);
break; break;
case ("r2n"): case ("r2n"):
robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(-90); robot.rotate(-90);
robot.harvest(); robot.harvest();