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helloworld

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GZod01 2024-04-01 16:54:30 +02:00
parent 4c6981b598
commit 60d01e81f5
1 changed files with 43 additions and 21 deletions
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64
ftc_new.java
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@ -25,6 +25,9 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@TeleOp(name = "WeRobot: FTC2024 NEW!!! Carlike", group = "WeRobot") @TeleOp(name = "WeRobot: FTC2024 NEW!!! Carlike", group = "WeRobot")
public class WEROBOT_FTC2024_New_carlike extends LinearOpMode { public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
public enum RobotMode{
ESSAIFRANCK, ELINA, NORMAL, TANCK;
}
private DcMotor rm; private DcMotor rm;
private DcMotor lm; private DcMotor lm;
@ -134,18 +137,18 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
// si le bouton a du gamepad 1 est appuyé et {already_a} est faux // si le bouton a du gamepad 1 est appuyé et {already_a} est faux
/*if (gamepad1.a && !already_a) { if (gamepad1.a && !already_a) {
if (mode == "normal") { if (mode == "normal") {
mode = "tank"; mode = "tank";
} else if (mode == "tank") { } else if (mode == "tank") {
mode = "essaifranck"; mode = "essai franck";
} else if (mode == "essaifranck") { } else if (mode == "essai franck") {
mode = "elina"; mode = "elina";
} else { } else {
mode = "elina"; mode = "elina";
} }
already_a = true; already_a = true;
}*/ }
boxRot = gamepad1.right_stick_x; boxRot = gamepad1.right_stick_x;
// if (boxRot <= 0){ // if (boxRot <= 0){
@ -175,14 +178,15 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} }
double lpower = 0.0; double lpower = 0.0;
double rpower = 0.0; double rpower = 0.0;
/*if (mode == "normal") { if (mode == "normal") {
double ysign = y > 0 ? 1.0 : (y < 0 ? -1.0 : 0.0); double ysign = Double.signum(y);
double xsign = x > 0 ? 1.0 : (x < 0 ? -1.0 : 0.0); double xsign = Double.signum(x);
lpower = -ysign * t + (xsign - 2 * x) * t; lpower = -ysign * t + (xsign - 2 * x) * t;
rpower = ysign * t + (xsign - 2 * x) * t; rpower = ysign * t + (xsign - 2 * x) * t;
} else if (mode == "tank") { } else if (mode == "tank") {
lpower = -y; lpower = -y;
rpower = gamepad1.right_stick_y;*/ rpower = gamepad1.right_stick_y;
}
if (mode == "essaifranck") { if (mode == "essaifranck") {
double a = (-y + x) / Math.pow(2, 1 / 2); double a = (-y + x) / Math.pow(2, 1 / 2);
double b = (-y - x) / Math.pow(2, 1 / 2); double b = (-y - x) / Math.pow(2, 1 / 2);
@ -384,6 +388,24 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
telemetry.addData("Position box",box.getCurrentPosition()); telemetry.addData("Position box",box.getCurrentPosition());
telemetry.addData("box velocity",rotation.getVelocity()); telemetry.addData("box velocity",rotation.getVelocity());
telemetry.update(); telemetry.update();
}
} }
} }
public void nextMode(){
this.RobotMode toNextMode;
switch(this.mode){
case (this.RobotMode.ESSAIFRANCK):
toNextMode = this.RobotMode.ELINA;
break;
case (this.RobotMode.ELINA):
toNextMode = this.RobotMode.NORMAL;
break;
case (this.RobotMode.NORMAL):
toNextMode = this.RobotMode.TANK;
break;
default:
toNextMode = this.RobotMode.ESSAIFRANCK;
break;
}
this.mode = toNextMode;
}
}