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 enum AutoMode{
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
}
public AutoMode autonomous_mode;
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
}
public AutoMode autonomous_mode;
public DcMotor lm;
public DcMotor rm;
public DcMotorEx lmelevator;
@ -54,7 +54,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d";
autonomous_mode = AutoMode.B4D;
telemetry.addData("wait for start", "");
telemetry.update();
@ -89,7 +89,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("b2d"):
case B2D:
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
@ -98,7 +98,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("r4d"):
case R4D:
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
@ -107,7 +107,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("r2d"):
case R2D:
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
@ -116,7 +116,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("b4n"):
case B4N:
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
@ -133,7 +133,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("b2n"):
case B2N:
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
@ -150,7 +150,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("r4n"):
case R4N:
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);
@ -167,7 +167,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.backward(1);
robot.harvest(0);
break;
case ("r2n"):
case R2N:
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);