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Zelina974 2024-02-26 15:28:02 +01:00
parent 94118433a0
commit 6eafb98253
1 changed files with 80 additions and 5 deletions
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test.java
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@ -45,25 +45,100 @@ public class ftc2024_autonome_test extends LinearOpMode {
YawPitchRollAngles robotOrientation; YawPitchRollAngles robotOrientation;
double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double yaw_sortie1; double yaw_sortie;
double yaw_sortie2; double a;
double yaw_sortie3; double a1;
double yaw_sortie4; double b;
double b1;
double k;
double k1;
waitForStart(); waitForStart();
while (opModeIsActive()){ while (opModeIsActive()){
double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1}; double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1}; double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1};
for(int i = 0; i< p_t_g.length; i++){ for(int i = 0; i< lm_p.length; i++){
while (opModeIsActive() && Yaw < 90){ while (opModeIsActive() && Yaw < 90){
lm.setPower = lm_p[i]; lm.setPower = lm_p[i];
rm.setPower = rm_p[i]; rm.setPower = rm_p[i];
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Yaw : ", Yaw); telemetry.addData("Yaw : ", Yaw);
telemetry.update(); telemetry.update();
yaw_sortie = Yaw;
} }
telemetry.addData("Yaw sortie", yaw_sortie);
telemetry.update();
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double [] x = Yaw - yaw_sortie;
/*if (i = 0) {
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
a = yaw_sortie;
a1 = Yaw;
}
if (i = 1){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
b = yaw_sortie;
b1 = Yaw;
}
if (i = 2){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double c = yaw_sortie;
double c1 = Yaw;
}
if (i = 3){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double d = yaw_sortie;
double d1 = Yaw;
}
if (i = 4){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double e = yaw_sortie;
double e1 = Yaw;
}
if (i = 5){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double f = yaw_sortie;
double f1 = Yaw;
}
if (i = 6){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double g = yaw_sortie;
double g1 = Yaw;
}
if (i = 7){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double h = yaw_sortie;
double h1 = Yaw;
}
if (i = 8){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double j = yaw_sortie;
double j1 = Yaw;
}
if (i = 9){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
k = yaw_sortie;
k1 = Yaw;
}
*/
imu.resetYaw();
} }
telemetry.addData("0.1", x[0]);
telemetry.addData("0.2", x[1]);
telemetry.addData("0.3", x[2]);
telemetry.addData("0.4", x[3]);
telemetry.addData("0.5", x[4]);
telemetry.addData("0.6", x[5]);
telemetry.addData("0.7", x[6]);
telemetry.addData("0.8", x[7]);
telemetry.addData("0.9", x[8]);
telemetry.addData("1", x[9]);
} }
} }
} }