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Zelina974 2024-05-20 17:08:50 +02:00
parent 1eeff6a40c
commit 335f8b3e89
2 changed files with 148 additions and 87 deletions
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42
fgc2024Pilotage.java Normal file
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@ -0,0 +1,42 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.robot.Robot;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.robot.Robot;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@TeleOp(name = "WeRobot: FTC2024 NEW! Carlike", group = "WeRobot")
public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
private DcMotorEx rm;
private DcMotorEx lm;
@Override
public void runOpMode() throws InterruptedException {
float x; // abscisse joystick gauche
double y; // ordonnées joystick gauche
telemetry.addData("Status"," Initialized");
}
}

193
lastmatch.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.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.IMU; import com.qualcomm.robotcore.hardware.IMU;
@ -22,108 +23,126 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous @Autonomous
public class Ftc2024_autonome_last extends LinearOpMode { public class lastmatch extends LinearOpMode {
public enum AutoMode {
B2D, B4D
}
public AutoMode autonomous_mode = B2D; public DcMotorEx lm;
public DcMotor lm; public DcMotorEx rm;
public DcMotor rm;
public DcMotorEx lmelevator; public DcMotorEx lmelevator;
public DcMotorEx rmelevator; public DcMotorEx rmelevator;
public DcMotor harvestmotor; public DcMotor harvestmotor;
public IMU imu; public IMU imu;
public DcMotorEx rotation; public DcMotorEx rotation;
private ElapsedTime timer;
@Override @Override
public void runOpMode() { public void runOpMode() {
timer = new ElapsedTime();
boolean auto = false;
lm = hardwareMap.get(DcMotorEx.class, "blm");
rm = hardwareMap.get(DcMotorEx.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
rmelevator.setDirection(DcMotor.Direction.REVERSE);
rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
boolean auto = false; rm.setDirection(DcMotor.Direction.REVERSE);
lm = hardwareMap.get(DcMotor.class, "blm"); rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
rmelevator.setDirection(DcMotor.Direction.REVERSE);
rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rm.setDirection(DcMotor.Direction.REVERSE); imu = hardwareMap.get(IMU.class, "imu");
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); imu.initialize(
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
imu = hardwareMap.get(IMU.class, "imu"); telemetry.addData("wait for start", "");
imu.initialize( telemetry.update();
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = AutoMode.B4D;
telemetry.addData("wait for start", ""); waitForStart();
telemetry.update(); telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
waitForStart(); while (opModeIsActive()) {
telemetry.addData("started", ""); if (gamepad1.a && !auto) {
telemetry.update(); auto = true;
robotOrientation = imu.getRobotYawPitchRollAngles(); break;
}
}
if (opModeIsActive()) {
double motor_speed = 1.0;
lmelevator.setVelocity(600);
rmelevator.setVelocity(600);
lmelevator.setTargetPosition(200);
rmelevator.setTargetPosition(200);
rotation.setVelocity(600);
rotation.setTargetPosition(40);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
sleep(2000);
while (opModeIsActive()) { lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
if (gamepad1.a && !auto) { rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
auto = true; double total_time = robot.time_for_dist(1 * robot.ground_tiles_width, Math.abs(motor_speed));
break; timer.reset();
} while (opModeIsActive() && timer.seconds() < total_time) {
} lm.setPower(motor_speed);
if (opModeIsActive()) { rm.setPower(motor_speed);
/* }
* autonomous_mode differents possibles values respect the next scheme: lm.setPower(0);
* team_color_shortcode + start_line_index + direct_or_no rm.setPower(0);
*
* 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) { harvestmotor.setPower(-0.6);
default:
robot.boxElv(); lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.harvest(1); rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.forward(2); total_time = robot.time_for_dist(0.7 * robot.ground_tiles_width, Math.abs(motor_speed));
/* timer.reset();
* robot.harvest(0); while (opModeIsActive() && timer.seconds() < total_time) {
* robot.rotate((-90)); lm.setPower(-motor_speed);
* robot.posBasse(); rm.setPower(-motor_speed);
* robot.forward(3.5); }
* robot.harvest(-1); lm.setPower(0);
* robot.backward(0.5); rm.setPower(0);
* robot.harvest(0);
* robot.forward(0.5); double angle = 90.0;
*/ lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
break; rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
case B2D: double perimeter = Math.toRadians(angle)* 37.0/2.0;
robot.posBasse(); int targetPos = (int) Math.floor(perimeter/(9e-2*Math.PI));
robot.harvest(1); targetPos = targetPos * 20;
robot.forward(1); rm.setTargetPosition(targetPos);
robot.harvest(0); lm.setTargetPosition(-targetPos);
/* lm.setVelocity(600);
* robot.forward(1); rm.setVelocity(600);
* robot.harvest(-1); lm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
* robot.backward(0.5); rm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
* robot.harvest(0); // while (Math.abs(lm.getCurrentPosition() - targetPos)>=2){}
* robot.forward(0.5);
*/ motor_speed= 1;
break; lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
} rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
} total_time = robot.time_for_dist(1.5 * robot.ground_tiles_width, Math.abs(motor_speed));
timer.reset();
while (opModeIsActive() && timer.seconds() < total_time) {
lm.setPower(motor_speed);
rm.setPower(motor_speed);
}
lm.setPower(0);
rm.setPower(0);
}
} }
} }