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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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296
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 com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
@ -22,150 +23,165 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous
public class Ftc2024_autonome_api extends LinearOpMode {
public String autonomous_mode;
public DcMotor lm;
public DcMotor rm;
public DcMotor harvestmotor;
public IMU imu;
public String autonomous_mode;
public DcMotor lm;
public DcMotor rm;
public DcMotorEx lmelevator;
public DcMotorEx rmelevator;
public DcMotor harvestmotor;
public IMU imu;
public DcMotorEx rotation;
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
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.initialize(
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d";
imu = hardwareMap.get(IMU.class, "imu");
imu.initialize(
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d";
telemetry.addData("wait for start", "");
telemetry.update();
telemetry.addData("wait for start", "");
telemetry.update();
waitForStart();
telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
if (opModeIsRunning()) {
/*
* autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no
*
* team_color_shortcode = "b" for blue & "r" for red
* start_line_index = 4 or 2 see competition manual appendix B Tile location
* plan
* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest
* pixels before to go in deliver zone
*
* default is "b4d"
*/
switch (autonomous_mode) {
default:
robot.forward(0.5);
robot.rotate((-90));
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2d"):
robot.forward(0.5);
robot.rotate((-90));
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4d"):
robot.forward(0.5);
robot.rotate(90);
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2d"):
robot.forward(0.5);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b4n"):
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2n"):
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4n"):
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2n"):
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
}
}
}
waitForStart();
telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
if (opModeIsActive()) {
/*
* autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no
*
* team_color_shortcode = "b" for blue & "r" for red
* start_line_index = 4 or 2 see competition manual appendix B Tile location
* plan
* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest
* pixels before to go in deliver zone
*
* default is "b4d"
*/
switch (autonomous_mode) {
default:
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b4n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
}
}
}
}