werobot/ftc2024-robotcode
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update

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Zelina974 2024-03-17 17:01:52 +01:00
parent 4a7fc95838
commit 71a5bc664c
1 changed files with 33 additions and 9 deletions
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42
ftc2024-carlike.java
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@ -34,13 +34,13 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor moissoneuse; private DcMotor moissoneuse;
private DcMotor lmelevator; private DcMotorEx lmelevator;
private DcMotor rmelevator; private DcMotorEx rmelevator;
private DcMotor box; private DcMotorEx box;
private DcMotor rotation; private DcMotorEx rotation;
private IMU imu; private IMU imu;
@ -100,6 +100,10 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
boolean already_x = false; boolean already_x = false;
boolean already_up = false;
boolean already_down = false;
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.update(); telemetry.update();
@ -110,19 +114,19 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse"); moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse");
lmelevator = hardwareMap.get(DcMotor.class, "ltrselv"); lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator = hardwareMap.get(DcMotor.class, "rtrselv"); rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rotation = hardwareMap.get(DcMotor.class, "elvRot"); rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
box = hardwareMap.get(DcMotor.class, "boxRot"); box = hardwareMap.get(DcMotorEx.class, "boxRot");
box.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); box.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@ -261,8 +265,28 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
} }
} }
if (!gamepad1.b && already_b) { if (!gamepad1.b && already_b) {
already_b = !already_b; already_b = false;
} }
if ((gamepad1.dpad_up && !already_up)^(gamepad1.dpad_down && !already_down)){
lmelevator.setVelocity(100);
rmelevator.setVelocity(100);
Long targetPosLong = (Long) Math.round(288*3.45);
int targetPos = targetPosLong.intValue();
if (gamepad1.dpad_down){
targetPos = 0;
already_down = true;
}else{
already_up = true;
}
panier1.setTargetPosition(targetPos);
panier2.setTargetPosition(targetPos);
}else if (!gamepad1.dpad_up && already_up){
already_up = false;
}else if (!gamepad1.dpad_down && already_down){
already_down = false;
}
telemetry.addData("x", x); telemetry.addData("x", x);