From 5da5ebbe1e63c48f751904a50ed202cf833f7cb8 Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sun, 2 Jun 2024 16:57:59 +0200
Subject: [PATCH] helloworld, we added some features and we hope that the robot
 will work but we know that hope is often lies, so we have to hope even if we
 know that it's false, 'Measuring programming progree by lines of code is like
 measuring aircraft building progree by weight.' - Bill Gates

---
 AutonomeTest.java    |  7 ++++--
 fgc2024Pilotage.java | 57 ++++++++++++++++++++++++--------------------
 2 files changed, 36 insertions(+), 28 deletions(-)

diff --git a/AutonomeTest.java b/AutonomeTest.java
index 581cd96..49687ba 100644
--- a/AutonomeTest.java
+++ b/AutonomeTest.java
@@ -17,6 +17,7 @@ public class AutonomeTest extends LinearOpMode {
     private DcMotorEx boiteG;
     private DcMotorEx boiteD;
     private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor moissonneuse;
     
     @Override
     public void runOpMode(){
@@ -34,7 +35,7 @@ public class AutonomeTest extends LinearOpMode {
         droit.setDirection(DcMotorSimple.Direction.REVERSE);
         droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
         droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
-	moissonneuse = hardwareMap.get(DcMotor.class,"msn");
+	moissonneuse = hardwareMap.get(DcMotor.class,"moissonneuse");
         
         
         waitForStart();
@@ -64,12 +65,14 @@ public class AutonomeTest extends LinearOpMode {
         gauche.setTargetPosition(165);
         droit.setTargetPosition(1235);
         
-        while (opModeIsActive() && gauche.getCurrentPosition()>gauche.getTargetPosition()){
+        while (opModeIsActive() && droit.getCurrentPosition()>droit.getTargetPosition()){
             gauche.setVelocity(250);
             gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             droit.setVelocity(250);
             droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
         }
+	gauche.setVelocity(0);
+	droit.setVelocity(0);
         gauche.setTargetPosition(700*3);
         droit.setTargetPosition(700*3);
         
diff --git a/fgc2024Pilotage.java b/fgc2024Pilotage.java
index d36100a..f8b1d47 100644
--- a/fgc2024Pilotage.java
+++ b/fgc2024Pilotage.java
@@ -22,42 +22,47 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
 import org.firstinspires.ftc.robotcore.external.navigation.Position;
 import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
 
-@TeleOp(name = "WeRobot: FTC2024 NEW! Carlike", group = "WeRobot")
-public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
-    
+@TeleOp(name = "FGC2024", group = "WeRobot")
+public class FGC_2024 extends LinearOpMode {
+
     private DcMotorEx rm;
     private DcMotorEx lm;
 
 
     @Override
     public void runOpMode() throws InterruptedException {
-        
-        float x = gamepad1.left_stick_x; // abscisse joystick gauche
-        double y = gamepad1.left_stick_y; // ordonnées joystick gauche
-        double lpower = 0.0; //puissance moteur gauche
-        double rpower = 0.0; //puissance moteur droit
 
-        telemetry.addData("Status"," Initialized");
 
-        lm = hardwareMap.get(DcMotorEx.class, "lm");
-	    rm = hardwareMap.get(DcMotorEx.class, "rm");
-        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);
+	telemetry.addData("Status"," Initialized");
+	telemetry.update();
 
-        lpower = ((1+x)*Math.signum(y))/2;
-        rpower = ((1-x)*Math.signum(y))/2;
+	lm = hardwareMap.get(DcMotorEx.class, "lm");
+	lm.setDirection(DcMotor.Direction.REVERSE);
+	rm = hardwareMap.get(DcMotorEx.class, "rm");
+	//lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+	//rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
-        if ( x=1 || x=-1 ){
-            lpower = 1*Math.signum(x);
-            rpower = - lpower;
-        }
+	waitForStart();
+	while(opModeIsActive()){
+	    float x = gamepad1.left_stick_x; // abscisse joystick gauche
+	    double y = gamepad1.left_stick_y; // ordonnées joystick gauche
+	    double lpower = 0.0; //puissance moteur gauche
+	    double rpower = 0.0; //puissance moteur droit
 
-        lpower = lpower*gamepad1.left_trigger;
-        rpower = lpower*gamepad1.left_trigger;
+	    lpower = ((1+x)*Math.signum(y))/2;
+	    rpower = ((1-x)*Math.signum(y))/2;
 
-        rm.setPower(rpower);
-        lm.setPower(lpower);
+	    if (Math.abs(x)>0.8){
+		lpower = 1*Math.signum(x);
+		rpower = -lpower;
+	    }
+
+	    lpower = lpower*gamepad1.left_trigger;
+	    rpower = lpower*gamepad1.left_trigger;
+
+	    rm.setPower(rpower);
+	    lm.setPower(lpower);
+	    telemetry.update();
+	}
     }
-}
\ No newline at end of file
+}