werobot/ftc2024-robotcode
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GZod01 2024-03-08 17:39:35 +01:00
parent 13a84719ce
commit 38080d8c41
2 changed files with 81 additions and 49 deletions
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79
FTC2024WeRobotControl.java
View file

@ -39,75 +39,103 @@ public class FTC2024WeRobotControl {
*/
private final double ground_tiles_width = 61.0e-2; // metres
/*
* construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class for the FTC2024
* @param Parent = the parent class, use the "this" keyword if you are constructing the class directly in
* construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class
* for the FTC2024
*
* @param Parent = the parent class, use the "this" keyword if you are
* constructing the class directly in
*/
public FTC2024WeRobotControl(YawPitchhRollAngle Parent){
public FTC2024WeRobotControl(YawPitchhRollAngle Parent) {
this.Parent = Parent;
}
/*
* return a metre/sec speed
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public double getSpeedFromMotorSpeed(double motor_speed = 1.0){
double speed_tour_par_minutes = this.tour_par_minutes*motor_speed;
double speed = (speed_tour_par_minutes/60)*this.wheel_perimeter;
public double getSpeedFromMotorSpeed(double motor_speed) {
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
return speed;
}
/*
* return the needed time for a distance
*
* @param dist = distance in metre
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public double time_for_dist(double dist, double motor_speed=1.0){
public double time_for_dist(double dist, double motor_speed) {
double speed = getSpeedFromMotorSpeed(motor_speed);
return (dist/speed);
return (dist / speed);
}
/*
* go forward
* @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5 etc.)
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
* etc.)
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public void forward(double n_tiles, double motor_speed = 1.0){
double total_time = time_for_dist(n_tiles*ground_tiles_width, motor_speed);
public void forward(double n_tiles, double motor_speed) {
double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
double start_time = Parent.runtime.seconds();
while( Parent.opModeIsActive() && ((Parent.runtime.seconds()-start_time)<total_time)){
while (Parent.opModeIsActive() && ((Parent.runtime.seconds() - start_time) < total_time)) {
Parent.lm.setPower(motor_speed);
Parent.rm.setPower(motor_speed);
}
Parent.lm.setPower(0);
Parent.rm.setPower(0);
}
/*
* go backward
* @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5 etc.)
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
* etc.)
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public void backward(double n_tiles, double motor_speed= 1.0){
public void backward(double n_tiles, double motor_speed) {
forward(n_tiles, -motor_speed);
}
/*
* harvest
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public void harvest(double motor_speed=0.0){
public void harvest(double motor_speed) {
Parent.harvestmotor.setPower(motor_speed);
}
/*
* harvest
*
* @param angle = the angle to rotate (in degrees)
* @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
*
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public void rotate(double angle, double motor_speed=1.0){
public void rotate(double angle, double motor_speed){
Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double start_yaw = Parent.robotOrientation.getYaw(AngleUnit.DEGREES);
angle = 200.0;
double anglerad = Math.toRadians(angle);
angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
double left_multiplier = -( (double) Math.signum(angle));
double left_multiplier = -((double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed;
while(Parent.opModeIsActive() && (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle)){
while(Parent.opModeIsActive() && (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){
Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
m_power = (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES)-start_yaw));//relative
Parent.lm.setPower(left_multiplier*m_power);
@ -116,4 +144,7 @@ public class FTC2024WeRobotControl {
Parent.lm.setPower(0);
Parent.rm.setPower(0);
}
public void test_forward_10_and_rotate_20deg(){
}
}

1
ftc2024_autonome_api.java
View file

@ -81,6 +81,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
break;
case ("r4d"):
break;
case ("r2d"):