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Actualiser ftc_new.java

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franck 2024-04-04 19:49:26 +02:00
parent 4eb9bb19f2
commit 560f4de1df
1 changed files with 249 additions and 78 deletions
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327
ftc_new.java
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@ -29,8 +29,8 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
ESSAIFRANCK, ELINA, NORMAL, TANK; ESSAIFRANCK, ELINA, NORMAL, TANK;
} }
private DcMotor rm; private DcMotorEx rm;
private DcMotor lm; private DcMotorEx lm;
private DcMotor moissoneuse; private DcMotor moissoneuse;
private DcMotorEx lmelevator; private DcMotorEx lmelevator;
private DcMotorEx rmelevator; private DcMotorEx rmelevator;
@ -41,9 +41,9 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
/* /*
* La fonction pour faire des exponentielles spécifiques * La fonction pour faire des exponentielles spécifiques
* *
* @param double t => le nombre dont on veut faire l'exponentielle * @param double t => le nombre dont on veut faire l'exponentielle
* *
* @return double une_exponentielle_très_spéciale_de_t * @return double une_exponentielle_très_spéciale_de_t
*/ */
private double helloexp(double t) { private double helloexp(double t) {
@ -68,7 +68,9 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} }
this.mode = toNextMode; this.mode = toNextMode;
} }
public boolean isBetween(double elem, double mini, double maxi){
return Math.abs(elem - (((maxi-mini)/2)+mini))<=(maxi-mini)/2;
}
// La fonction du thread principal // La fonction du thread principal
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@ -90,17 +92,29 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
boolean already_up = false; boolean already_up = false;
boolean already_down = false; boolean already_down = false;
boolean already_ps = false; boolean already_ps = false;
boolean already_paddown = false;
boolean already_padup = false;
boolean already_padright = false;
boolean already_padleft = false;
boolean sinking = false; boolean sinking = false;
boolean manualMode = false; boolean manualMode = false;
boolean firstLaunch = true; boolean firstLaunch = true;
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.addData("Version", "5.123");
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotorEx.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotorEx.class, "brm");
rm.setDirection(DcMotor.Direction.REVERSE); rm.setDirection(DcMotor.Direction.REVERSE);
lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse"); moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse");
moissoneuse.setDirection(DcMotor.Direction.REVERSE); moissoneuse.setDirection(DcMotor.Direction.REVERSE);
@ -165,34 +179,10 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2))); t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
if (0.1 < gamepad1.right_stick_x) {
boxRot = 0.1;
} else if (-0.1 > gamepad1.right_stick_x) {
boxRot = -0.1;
} else {
boxRot = 0;
}
if (gamepad1.right_trigger > 0) {
box.setPower(boxRot);
}
// if (boxRot <= 0){
// signeBR = -1;
// }
// else{
// signeBR=1;
// }
// if (Math.abs(boxRot) < 0.1){
// boxRot = 0.4*signeBR;
// }
// else {
// boxRot = 0.4*signeBR + boxRot/1.67;
// if (boxRot*signeBR > 0.9){
// boxRot = signeBR;
// }
// }
// Choix mode conduite / actif en manuel et auto
if (gamepad1.a && !already_a) { if (gamepad1.a && !already_a) {
nextMode(); nextMode();
already_a = true; already_a = true;
@ -202,11 +192,11 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} }
double lpower = 0.0; double lpower = 0.0;
double rpower = 0.0; double rpower = 0.0;
double vmean; double vmean;
double a; double a;
double b; double b;
switch (mode) { switch (mode) {
case NORMAL: case NORMAL:
double ysign = Math.signum(y); double ysign = Math.signum(y);
double xsign = Math.signum(x); double xsign = Math.signum(x);
@ -221,13 +211,77 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
break; break;
case ESSAIFRANCK: case ESSAIFRANCK:
//a = (Math.signum(y)*Math.abs(Math.signum(x))) / 2;//Math.pow(2, 1 / 2); // Code ci-dessous OK
//b = (-Math.signum(y)*(1-Math.abs(Math.signum(x)))) / 2;//Math.pow(2, 1 / 2); // lpower = (1 + x); //(a / vmean) * t2;
//vmean = (Math.abs(a) + Math.abs(b)) / 2; // rpower = 2-lpower;//(b / vmean) * t2;
lpower = (1 + x)/2; //(a / vmean) * t2; // lpower*=t2*((Math.signum(y)==0)?1:-Math.signum(y)); // sigNum(0)
rpower = 1-lpower;//(b / vmean) * t2; // rpower*=t2*((Math.signum(y)==0)?1:-Math.signum(y));
lpower*=t2; // Fin code OK
rpower*=t2;
int ltargetPos, rtargetPos;
ltargetPos = rtargetPos = 0;
int lmpos = lm.getCurrentPosition();
int rmpos = rm.getCurrentPosition();
int step = 100;
// double rapp = step/theta;
double signe = Math.signum(-y);
signe = (signe == 0)?1.0:signe;
if (Math.abs(x)<=0.1){
ltargetPos = rtargetPos = 100;
}else if (isBetween(x,0.1,0.9)){
rtargetPos = step;
ltargetPos = 2*step;
}else if (x>=0.9){
ltargetPos = step;
rtargetPos = -step;
}else if (x<=-0.9){
ltargetPos = -step;
rtargetPos = step;
}else if (isBetween(x, -0.9,-0.1)){
rtargetPos = 2*step;
ltargetPos = step;
}
ltargetPos*=signe;
rtargetPos*=signe;
// if (x>0.1){
// theta = Math.abs(Math.PI/2 - Math.atan2(-y,x));
// theta = (theta > Math.PI/2)?(Math.PI - theta):theta;
// ltargetPos = (int) (Math.floor(theta*37.0 + step)*signe);
// rtargetPos = (int) (Math.floor(step)*signe);
// }
// else if (x < -0.1){
// theta = Math.abs(Math.abs(Math.atan2(-y,x)) - Math.PI/2);
// rtargetPos = (int) (Math.floor(theta*37.0 + step)*signe);
// ltargetPos = (int) (Math.floor(step)*signe);
// }
// else {
// rtargetPos = step*((int) Math.signum(-y));
// ltargetPos = step*((int) Math.signum(-y));
// }
telemetry.addData("ltargetPos avant cut",ltargetPos);
telemetry.addData("rtargetPos avant cut",rtargetPos);
// ltargetPos = ((Math.abs(ltargetPos)> step)?(int) Math.signum(ltargetPos)*(step + Math.abs(ltargetPos)%step ):ltargetPos);
// rtargetPos = ((Math.abs(rtargetPos)> step)?(int) Math.signum(rtargetPos)*(step + Math.abs(rtargetPos)%step):rtargetPos);
lm.setTargetPosition(lmpos + ltargetPos);
rm.setTargetPosition(rmpos + rtargetPos);
lm.setVelocity(2800.0*t2);
rm.setVelocity(2800.0*t2);
// telemetry.addData("rapp",rapp);
telemetry.addData("ltargetPos",ltargetPos);
telemetry.addData("rtargetPos",rtargetPos);
lm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
break; break;
case ELINA: case ELINA:
@ -245,10 +299,12 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
rpower /= 3; rpower /= 3;
} }
lm.setPower(lpower/1.5); // CODE OK
rm.setPower(rpower/1.5); // lm.setPower(lpower/1.5);
// rm.setPower(rpower/1.5);
// Fin code OK
// activation moissonneuse // activation moissonneuse -- actif en manuel et auto
if (gamepad1.b && !already_b) { if (gamepad1.b && !already_b) {
double moissoneuseSpeed = 1.0; double moissoneuseSpeed = 1.0;
if (gamepad1.right_bumper) { if (gamepad1.right_bumper) {
@ -308,16 +364,35 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
// activation rotation // activation rotation
if (manualMode) { if (manualMode) {
gamepad1.setLedColor(255, 0, 0, 10); gamepad1.setLedColor(1.0, 0.0, 0.0,255);
lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER); // rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
box.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Elevator manual mode
if (gamepad1.dpad_up) { if (gamepad1.dpad_up) {
rmelevator.setPower(0.3); // rmelevator.setPower(0.3);
lmelevator.setPower(0.3); // lmelevator.setPower(0.3);
lmelevator.setVelocity(400);
rmelevator.setVelocity(400);
int lpos = rmelevator.getCurrentPosition();
int rpos = lmelevator.getCurrentPosition();
lmelevator.setTargetPosition(lpos + 15);
rmelevator.setTargetPosition(rpos + 15);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} else if (gamepad1.dpad_down) { } else if (gamepad1.dpad_down) {
lmelevator.setPower(-0.3); // lmelevator.setPower(-0.3);
rmelevator.setPower(-0.3); // rmelevator.setPower(-0.3);
lmelevator.setVelocity(400);
rmelevator.setVelocity(400);
int lpos = rmelevator.getCurrentPosition();
int rpos = lmelevator.getCurrentPosition();
lmelevator.setTargetPosition(lpos - 15);
rmelevator.setTargetPosition(rpos - 15);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} else if (gamepad1.y) { } else if (gamepad1.y) {
double power = -0.3; double power = -0.3;
if (gamepad1.right_bumper) { if (gamepad1.right_bumper) {
@ -325,35 +400,131 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} }
rotation.setPower(power); rotation.setPower(power);
} else { } else {
lmelevator.setPower(0); // lmelevator.setPower(0);
rmelevator.setPower(0); // rmelevator.setPower(0);
rotation.setPower(0); rotation.setPower(0);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); // lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); // rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
} }
// Box manual mode
if (gamepad1.dpad_left) {
box.setPower(0.3);
box.setPower(0.3);
} else if (gamepad1.dpad_right) {
box.setPower(-0.3);
box.setPower(-0.3);
}
else {
box.setPower(0);
box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
}
// Accrochage final
if (gamepad1.x){
// lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
lmelevator.setVelocity(600);
rmelevator.setVelocity(600);
lmelevator.setTargetPosition(40);
rmelevator.setTargetPosition(40);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
} else { } else {
gamepad1.setLedColor(0, 0, 255, 10); gamepad1.setLedColor(0.0, 0.0, 0.0,10);
}
if (!gamepad1.dpad_right && already_padright) {
if (!gamepad1.y && already_y && !manualMode) { already_padright = false;
already_y = false; }
} if (gamepad1.dpad_right && !already_padright) {
if (gamepad1.y && !already_y && !manualMode) { already_padright = true;
already_y = true; // POSITION INITIALE
int pos = rotation.getCurrentPosition(); rotation.setVelocity(600);
rotation.setVelocity(200); rotation.setTargetPosition(0);
if (gamepad1.right_bumper) {
// rotation.setTargetPosition(pos - 25); lmelevator.setVelocity(600);
rotation.setTargetPosition(-100); // vertical si pos origine = 0 lmelevator.setTargetPosition(0);
} else if (gamepad1.left_bumper) { rmelevator.setVelocity(600);
// rotation.setTargetPosition(pos + 25); rmelevator.setTargetPosition(0);
rotation.setTargetPosition(1000); // position basse
} else { rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rotation.setTargetPosition(0); lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (!gamepad1.dpad_left && already_padleft) {
already_padleft = false;
}
if (gamepad1.dpad_left && !already_padleft) {
already_padleft = true;
// POSITION ROULAGE / Rammase Pixel dans boite
rotation.setVelocity(600);
rotation.setTargetPosition(-50);
lmelevator.setVelocity(600);
lmelevator.setTargetPosition(150);
rmelevator.setVelocity(600);
rmelevator.setTargetPosition(150);
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (!gamepad1.dpad_up && already_padup) {
already_y = false;
}
if (gamepad1.dpad_up && !already_padup) {
already_padup = true;
// POSITION CHASSE-NEIGE
rotation.setVelocity(600);
rotation.setTargetPosition(110);
lmelevator.setVelocity(600);
lmelevator.setTargetPosition(555);
rmelevator.setVelocity(600);
rmelevator.setTargetPosition(555);
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
// int pos = rotation.getCurrentPosition();
// rotation.setVelocity(200);
// if (gamepad1.right_bumper) {
// // rotation.setTargetPosition(pos - 25);
// rotation.setTargetPosition(-100); // vertical si pos origine = 0
// } else if (gamepad1.left_bumper) {
// // rotation.setTargetPosition(pos + 25);
// rotation.setTargetPosition(1000); // position basse
// } else {
// rotation.setTargetPosition(0);
// }
// rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
if (!gamepad1.dpad_down && already_paddown) {
already_a = false;
}
if (gamepad1.dpad_down && !already_paddown) {
already_a = true;
// POSITION BASSE
rotation.setVelocity(600);
rotation.setTargetPosition(800);
lmelevator.setVelocity(600);
lmelevator.setTargetPosition(0);
rmelevator.setVelocity(600);
rmelevator.setTargetPosition(0);
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} }
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} }
if (gamepad1.right_bumper && gamepad1.left_bumper) { if (gamepad1.right_bumper && gamepad1.left_bumper) {
@ -378,4 +549,4 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} }
} }
} }