werobot/ftc2024-robotcode
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Zelina974 2024-04-05 18:10:57 +02:00
parent 00ee64d646
commit 5a6b54b19d
1 changed files with 11 additions and 11 deletions
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22
ftc2024_autonome_api.java
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@ -24,9 +24,9 @@ import com.qualcomm.robotcore.util.ElapsedTime;
public class Ftc2024_autonome_api extends LinearOpMode { public class Ftc2024_autonome_api extends LinearOpMode {
public enum AutoMode{ public enum AutoMode{
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
} }
public AutoMode autonomous_mode; public AutoMode autonomous_mode;
public DcMotor lm; public DcMotor lm;
public DcMotor rm; public DcMotor rm;
public DcMotorEx lmelevator; public DcMotorEx lmelevator;
@ -54,7 +54,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
imu.resetYaw(); imu.resetYaw();
YawPitchRollAngles robotOrientation; YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this); FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d"; autonomous_mode = AutoMode.B4D;
telemetry.addData("wait for start", ""); telemetry.addData("wait for start", "");
telemetry.update(); telemetry.update();
@ -89,7 +89,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("b2d"): case B2D:
robot.boxElv(); robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate((-90)); robot.rotate((-90));
@ -98,7 +98,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("r4d"): case R4D:
robot.boxElv(); robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90);
@ -107,7 +107,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("r2d"): case R2D:
robot.boxElv(); robot.boxElv();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90);
@ -116,7 +116,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("b4n"): case B4N:
robot.boxElv(); robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(90); robot.rotate(90);
@ -133,7 +133,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("b2n"): case B2N:
robot.boxElv(); robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(90); robot.rotate(90);
@ -150,7 +150,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("r4n"): case R4N:
robot.boxElv(); robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(-90); robot.rotate(-90);
@ -167,7 +167,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("r2n"): case R2N:
robot.boxElv(); robot.boxElv();
robot.forward(1.5); robot.forward(1.5);
robot.rotate(-90); robot.rotate(-90);