werobot/ftc2024-robotcode
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GZod01 2024-02-11 14:55:13 +01:00
parent 906fdd35f3
commit 74c285c6b2
1 changed files with 3 additions and 3 deletions
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ftc2024-autonome.java
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@ -72,13 +72,13 @@ public class ftc2024_autonome extends LinearOpMode {
double[] vec = operations[i]; double[] vec = operations[i];
double x = vec[0]; double x = vec[0];
double y = vec[1]; double y = vec[1];
double total_dist = (double) math.sqrt(Math.pow(y,2)+Math.pow(x,2)); double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, time); double time = time_for_dist(speed, time);
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);
double vmean = (Math.abs(a)+Math.abs(b))/2; double vmean = (Math.abs(a)+Math.abs(b))/2;
lmvalue = (a/vmean); double lmvalue = (a/vmean);
rmvalue = (b/vmean); double rmvalue = (b/vmean);
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) { while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue); lm.setPower(lmvalue);