werobot/ftc2024-robotcode
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GZod01 2024-01-07 16:10:53 +01:00
parent 932a6befc6
commit 7664d07e3a
1 changed files with 7 additions and 7 deletions
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ftc2024-carlike.java
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@ -11,7 +11,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.hardware.bosch.BHI260APIMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
@ -24,7 +24,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
public class Werobot_FTC2024_carlike extends LinearOpMode { public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm; private DcMotor rm;
private DcMotor lm; private DcMotor lm;
private BNO055IMU imu; private BHI260APIMU imu;
private Orientation lastAngles = new Orientation(); private Orientation lastAngles = new Orientation();
private double globalAngle, power = .30, correction; private double globalAngle, power = .30, correction;
private double helloexp(double t){ private double helloexp(double t){
@ -43,13 +43,13 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
telemetry.update(); telemetry.update();
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotor.class, "brm");
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters(); BHI260APIMU.Parameters parameters = new BHI260APIMU.Parameters();
parameters.mode = BNO055IMU.SensorMode.IMU; parameters.mode = BHI260APIMU.SensorMode.IMU;
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES; parameters.angleUnit = BHI260APIMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC; parameters.accelUnit = BHI260APIMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.loggingEnabled = false; parameters.loggingEnabled = false;
imu = hardwareMap.get(BNO055IMU.class, "imu"); imu = hardwareMap.get(BHI260APIMU.class, "imu");
imu.initialize(parameters); imu.initialize(parameters);
rm.setDirection(DcMotorSimple.Direction.REVERSE); rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Mode", "calibrating..."); telemetry.addData("Mode", "calibrating...");