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feat:ftc2024-carlike.java

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GZod01 2024-01-07 16:20:57 +01:00
parent 7664d07e3a
commit 3e8d91cf96
1 changed files with 7 additions and 7 deletions
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ftc2024-carlike.java
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@ -11,7 +11,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.hardware.bosch.BHI260APIMU;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
@ -24,7 +24,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
private BHI260APIMU imu;
private IMU imu;
private Orientation lastAngles = new Orientation();
private double globalAngle, power = .30, correction;
private double helloexp(double t){
@ -43,13 +43,13 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
telemetry.update();
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
BHI260APIMU.Parameters parameters = new BHI260APIMU.Parameters();
parameters.mode = BHI260APIMU.SensorMode.IMU;
parameters.angleUnit = BHI260APIMU.AngleUnit.DEGREES;
parameters.accelUnit = BHI260APIMU.AccelUnit.METERS_PERSEC_PERSEC;
IMU.Parameters parameters = new IMU.Parameters();
parameters.mode = IMU.SensorMode.IMU;
parameters.angleUnit = IMU.AngleUnit.DEGREES;
parameters.accelUnit = IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.loggingEnabled = false;
imu = hardwareMap.get(BHI260APIMU.class, "imu");
imu = hardwareMap.get(IMU.class, "imu");
imu.initialize(parameters);
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Mode", "calibrating...");