werobot/ftc2024-robotcode
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

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

Browse source
This commit is contained in:
GZod01 2024-06-02 16:57:59 +02:00
parent 8e3b2196a1
commit 5da5ebbe1e
2 changed files with 36 additions and 28 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

7
AutonomeTest.java
View file

@ -17,6 +17,7 @@ public class AutonomeTest extends LinearOpMode {
private DcMotorEx boiteG; private DcMotorEx boiteG;
private DcMotorEx boiteD; private DcMotorEx boiteD;
private ElapsedTime runtime = new ElapsedTime(); private ElapsedTime runtime = new ElapsedTime();
private DcMotor moissonneuse;
@Override @Override
public void runOpMode(){ public void runOpMode(){
@ -34,7 +35,7 @@ public class AutonomeTest extends LinearOpMode {
droit.setDirection(DcMotorSimple.Direction.REVERSE); droit.setDirection(DcMotorSimple.Direction.REVERSE);
droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
moissonneuse = hardwareMap.get(DcMotor.class,"msn"); moissonneuse = hardwareMap.get(DcMotor.class,"moissonneuse");
waitForStart(); waitForStart();
@ -64,12 +65,14 @@ public class AutonomeTest extends LinearOpMode {
gauche.setTargetPosition(165); gauche.setTargetPosition(165);
droit.setTargetPosition(1235); droit.setTargetPosition(1235);
while (opModeIsActive() && gauche.getCurrentPosition()>gauche.getTargetPosition()){ while (opModeIsActive() && droit.getCurrentPosition()>droit.getTargetPosition()){
gauche.setVelocity(250); gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION); gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250); droit.setVelocity(250);
droit.setMode(DcMotor.RunMode.RUN_TO_POSITION); droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} }
gauche.setVelocity(0);
droit.setVelocity(0);
gauche.setTargetPosition(700*3); gauche.setTargetPosition(700*3);
droit.setTargetPosition(700*3); droit.setTargetPosition(700*3);

29
fgc2024Pilotage.java
View file

@ -22,8 +22,8 @@ import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position; import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity; import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@TeleOp(name = "WeRobot: FTC2024 NEW! Carlike", group = "WeRobot") @TeleOp(name = "FGC2024", group = "WeRobot")
public class WEROBOT_FTC2024_New_carlike extends LinearOpMode { public class FGC_2024 extends LinearOpMode {
private DcMotorEx rm; private DcMotorEx rm;
private DcMotorEx lm; private DcMotorEx lm;
@ -32,24 +32,27 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
telemetry.addData("Status"," Initialized");
telemetry.update();
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);
waitForStart();
while(opModeIsActive()){
float x = gamepad1.left_stick_x; // abscisse joystick gauche float x = gamepad1.left_stick_x; // abscisse joystick gauche
double y = gamepad1.left_stick_y; // ordonnées joystick gauche double y = gamepad1.left_stick_y; // ordonnées joystick gauche
double lpower = 0.0; //puissance moteur gauche double lpower = 0.0; //puissance moteur gauche
double rpower = 0.0; //puissance moteur droit 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);
lpower = ((1+x)*Math.signum(y))/2; lpower = ((1+x)*Math.signum(y))/2;
rpower = ((1-x)*Math.signum(y))/2; rpower = ((1-x)*Math.signum(y))/2;
if ( x=1 || x=-1 ){ if (Math.abs(x)>0.8){
lpower = 1*Math.signum(x); lpower = 1*Math.signum(x);
rpower = -lpower; rpower = -lpower;
} }
@ -59,5 +62,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
rm.setPower(rpower); rm.setPower(rpower);
lm.setPower(lpower); lm.setPower(lpower);
telemetry.update();
}
} }
} }