From 4eb9bb19f28effec81ff78aef85dd1425de66a31 Mon Sep 17 00:00:00 2001 From: GZod01 Date: Mon, 1 Apr 2024 18:47:20 +0200 Subject: [PATCH] hello --- ftc_new.java | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/ftc_new.java b/ftc_new.java index e6a26b0..67751ac 100644 --- a/ftc_new.java +++ b/ftc_new.java @@ -210,7 +210,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode { case NORMAL: double ysign = Math.signum(y); double xsign = Math.signum(x); - lpower = -ysign * t + (xsign - 2 * x) * t; + lpower = ysign * t + (-xsign - 2 * x) * t; rpower = ysign * t + (xsign - 2 * x) * t; break; @@ -221,11 +221,13 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode { break; case ESSAIFRANCK: - a = (-y + x) / 2;//Math.pow(2, 1 / 2); - b = (-y - x) / 2;//Math.pow(2, 1 / 2); - vmean = (Math.abs(a) + Math.abs(b)) / 2; - lpower = (a / vmean) * t2; - rpower = (b / vmean) * t2; + //a = (Math.signum(y)*Math.abs(Math.signum(x))) / 2;//Math.pow(2, 1 / 2); + //b = (-Math.signum(y)*(1-Math.abs(Math.signum(x)))) / 2;//Math.pow(2, 1 / 2); + //vmean = (Math.abs(a) + Math.abs(b)) / 2; + lpower = (1 + x)/2; //(a / vmean) * t2; + rpower = 1-lpower;//(b / vmean) * t2; + lpower*=t2; + rpower*=t2; break; case ELINA: