werobot/ftc2024-robotcode
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This commit is contained in:
Zelina 2024-04-05 16:34:31 +02:00
parent 1578ee9c3e
commit 4d56bd4dfa
1 changed files with 34 additions and 25 deletions
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13
FTC2024WeRobotControl.java
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@ -40,7 +40,6 @@ public class FTC2024WeRobotControl {
private final double ground_tiles_width = 61.0e-2; // metres private final double ground_tiles_width = 61.0e-2; // metres
// //
private final double defaultspeed = 0.6; private final double defaultspeed = 0.6;
private final double defaultanglespeed = 0.4;
private ElapsedTime timer; private ElapsedTime timer;
@ -65,6 +64,16 @@ public class FTC2024WeRobotControl {
* @param motor_speed = (optional) double between 0 and 1; motor power; default * @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1 * to 1
*/ */
public void boxElv(){
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.lmelevator.setTargetPosition(90);
Parent.rmelevator.setTargetPosition(90);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public double getSpeedFromMotorSpeed(double motor_speed) { public double getSpeedFromMotorSpeed(double motor_speed) {
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed; double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter; double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
@ -170,7 +179,7 @@ public class FTC2024WeRobotControl {
Parent.rm.setPower(0); Parent.rm.setPower(0);
} }
public void rotate(double angle){ public void rotate(double angle){
this.rotate(angle,this.defaultanglespeed); this.rotate(angle,this.defaultspeed);
} }
public void test_forward_10_and_rotate_20deg(){ public void test_forward_10_and_rotate_20deg(){