werobot/ftc2024-robotcode
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GZod01 2024-04-01 18:47:20 +02:00
parent 3dde85645c
commit 4eb9bb19f2
1 changed files with 8 additions and 6 deletions
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14
ftc_new.java
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@ -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: