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Add AutonomeTest.java

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GZod01 2024-05-12 14:49:07 +02:00
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commit 66925dc7e0
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AutonomeTest.java Normal file
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous
public class AutonomeTest extends LinearOpMode {
private DcMotorEx droit;
private DcMotorEx gauche;
private DcMotorEx boiteG;
private DcMotorEx boiteD;
private ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode(){
boiteD = hardwareMap.get(DcMotorEx.class, "rtrselv");
boiteD.setDirection(DcMotorSimple.Direction.REVERSE);
boiteD.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
boiteD.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
boiteG = hardwareMap.get(DcMotorEx.class, "ltrselv");
boiteG.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
boiteG.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
gauche = hardwareMap.get(DcMotorEx.class, "blm");
gauche.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
gauche.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
droit = hardwareMap.get(DcMotorEx.class, "brm");
droit.setDirection(DcMotorSimple.Direction.REVERSE);
droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
waitForStart();
boiteG.setTargetPosition(90);
boiteD.setTargetPosition(90);
while (boiteG.getCurrentPosition()<boiteG.getTargetPosition()){
boiteD.setVelocity(100);
boiteD.setMode(DcMotor.RunMode.RUN_TO_POSITION);
boiteG.setVelocity(100);
boiteG.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetry.addData("position elv droit", boiteD.getCurrentPosition());
telemetry.addData("position elv gauche", boiteG.getCurrentPosition());
telemetry.update();
}
gauche.setTargetPosition(700);
droit.setTargetPosition(700);
while (gauche.getCurrentPosition()<gauche.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(165);
droit.setTargetPosition(1235);
while (gauche.getCurrentPosition()>gauche.getTargetPosition()){
gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250);
droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
}
}