From 878e91d9929b2a542f75141e41dedc7bf6278a4c Mon Sep 17 00:00:00 2001 From: G_Zod01 Date: Sat, 6 Apr 2024 14:47:49 +0200 Subject: [PATCH 1/2] hello --- .lastmatch.java.un~ | Bin 0 -> 4836 bytes ftc2024_autonome_api.java | 10 +-- lastmatch.java | 129 ++++++++++++++++++++++++++++++++++++++ 3 files changed, 134 insertions(+), 5 deletions(-) create mode 100644 .lastmatch.java.un~ create mode 100644 lastmatch.java diff --git a/.lastmatch.java.un~ b/.lastmatch.java.un~ new file mode 100644 index 0000000000000000000000000000000000000000..0d55324ea41bb83aadd42f4a959f553536d11165 GIT binary patch literal 4836 zcmeHK&2Jk;6i-VjY+Fz(3Wa`1Qv<>2$0iMFp&t=-Y6k*M9628qAY{h7V|&!yo$bu5 zV~Toc{{#+Pxq-yL!3ER{2Tt4(H#i}2gZE~3owZ}9hFmx>QsSMN_j}*(&CDhbzuJh( z;+Kj2UoL#IvU&8+@00c9hvP>c&mTPf`tJ`ue)RRvKh>ZA?X|~WOiWBXgundQ2NV3m zk$sza^H`Z4uq*W+?S9|?jMyyx1*6BNkL>@+SRODgPbnYf5S!UIgyYjR9Dlr=E*U9uWC7LPCB=M*uF;zq*lH5xe`R*G^nj-Qv7g5AghBs1no(SE02@T*kbS1L% zgk&!3ut*0&#IA@#(8ImWBSvL4UQU&|v^%~{rN2diQQ2D-TF6Q_v*i4kz@_C4gsi0G z!`+lqxC^F7G;kx@;Vp``x*yW5Rj$2uO$0$HY6VOo$N6y;2$QPh;0D928X12hgKNVW z^bD4)~&&++AC*uGUK{<$A5MR#~rCR&G_xm6~zbtw9DK zF)3EX7LyCC4b5K29=9Dk?n15fLB+5EGq#g!EHh-@jLUgAno)+c+8n7p>Ae-VR@to7 z)~sBxe_QUqw7;Lh4l8>a?AXcKk9llz@1H1N+RhtOadl}Z{iIPw*4z3P~Oo1>0iB!eojV-%5lTeQR?^?20U z4(7({1;D=ZMC^uY3_=&HwL7I+d1}gJU}_ay@tB6INzp7$I?m2(3N$RZhz*?d&&V;N(LcBE8Jh)hX=2G7;Q%#G7Ey^`qB_&as zN?m}qX5;l@o;rzrs+qM895(@GBW_X1HALABh}aPRhAs2QV0;A=v)@Nx2_z6U-x}`h z^y;=sr$MDQ4;U#5bD>>QB`D<%C~bTG83;CSl41*TET;Y?my*dzau!`@365emq(_04 zi8%@2WQAiwGI|%CcmO7NwmxNlUa<^^i+dVqr_TZL`|v@|nKQ;-L(IubeBLy7E3HT@ zl;RDz$&wBY68M2^ilGk?-DZ#gT}_nNhOk`&ZZ|A9d`i?k5eQjVZFoW8vx1zrA*=^* zt*`UQXI)tGO-ri-VI%;LY7tcHtz8(+!_ihSIne-p$RsI9JC)1_Xw^bZVDrM}$sD|V z$ShHe5x8K*Ohc`Uh=eqP*9f6;3|AZ8B@1L70~H9*T*HAS`Wc)Q2Q-4&vYq8sheRm& z1p?=^T_r7nlbCl|KztTJpe4C4B7A$1LS!h@6BZawrR2 literal 0 HcmV?d00001 diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java index 7355321..0aa970d 100644 --- a/ftc2024_autonome_api.java +++ b/ftc2024_autonome_api.java @@ -100,25 +100,25 @@ public class Ftc2024_autonome_api extends LinearOpMode { robot.boxElv(); robot.harvest(1); robot.forward(2); - robot.harvest(0); + /*robot.harvest(0); robot.rotate((-90)); robot.posBasse(); robot.forward(3.5); robot.harvest(-1); robot.backward(0.5); robot.harvest(0); - robot.forward(0.5); + robot.forward(0.5);*/ break; case B2D: robot.posBasse(); robot.harvest(1); - robot.forward(0.5); - robot.harvest(0); robot.forward(1); + robot.harvest(0); + /* robot.forward(1); robot.harvest(-1); robot.backward(0.5); robot.harvest(0); - robot.forward(0.5); + robot.forward(0.5);*/ break; case R4D: robot.boxElv(); diff --git a/lastmatch.java b/lastmatch.java new file mode 100644 index 0000000..8d8f27b --- /dev/null +++ b/lastmatch.java @@ -0,0 +1,129 @@ +package org.firstinspires.ftc.teamcode; + +//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne + +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotorEx; + +import com.qualcomm.robotcore.hardware.IMU; +import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; +import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot; +import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; + +import org.firstinspires.ftc.robotcore.external.navigation.Orientation; +import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; +import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; + +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; + +@Autonomous + +public class Ftc2024_autonome_last extends LinearOpMode { + public enum AutoMode { + B2D, B4D + } + + public AutoMode autonomous_mode; + public DcMotor lm; + public DcMotor rm; + public DcMotorEx lmelevator; + public DcMotorEx rmelevator; + public DcMotor harvestmotor; + public IMU imu; + public DcMotorEx rotation; + + @Override + public void runOpMode() { + + boolean auto = false; + lm = hardwareMap.get(DcMotor.class, "blm"); + rm = hardwareMap.get(DcMotor.class, "brm"); + harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse"); + rotation = hardwareMap.get(DcMotorEx.class, "elvRot"); + lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv"); + lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); + rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv"); + rmelevator.setDirection(DcMotor.Direction.REVERSE); + rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); + + rm.setDirection(DcMotor.Direction.REVERSE); + rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); + + imu = hardwareMap.get(IMU.class, "imu"); + imu.initialize( + new IMU.Parameters( + new RevHubOrientationOnRobot( + RevHubOrientationOnRobot.LogoFacingDirection.UP, + RevHubOrientationOnRobot.UsbFacingDirection.FORWARD))); + imu.resetYaw(); + YawPitchRollAngles robotOrientation; + FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this); + autonomous_mode = AutoMode.B4D; + + telemetry.addData("wait for start", ""); + telemetry.update(); + + waitForStart(); + telemetry.addData("started", ""); + telemetry.update(); + robotOrientation = imu.getRobotYawPitchRollAngles(); + + while (opModeIsActive()) { + if (gamepad1.a && !auto) { + auto = true; + break; + } + } + if (opModeIsActive()) { + /* + * autonomous_mode differents possibles values respect the next scheme: + * team_color_shortcode + start_line_index + direct_or_no + * + * team_color_shortcode = "b" for blue & "r" for red + * start_line_index = 4 or 2 see competition manual appendix B Tile location + * plan + * direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest + * pixels before to go in deliver zone + * + * default is "b4d" + */ + + switch (autonomous_mode) { + default: + robot.boxElv(); + robot.harvest(1); + robot.forward(2); + /* + * robot.harvest(0); + * robot.rotate((-90)); + * robot.posBasse(); + * robot.forward(3.5); + * robot.harvest(-1); + * robot.backward(0.5); + * robot.harvest(0); + * robot.forward(0.5); + */ + break; + case B2D: + robot.posBasse(); + robot.harvest(1); + robot.forward(1); + robot.harvest(0); + /* + * robot.forward(1); + * robot.harvest(-1); + * robot.backward(0.5); + * robot.harvest(0); + * robot.forward(0.5); + */ + break; + } + } + } +} From fb4690d606db24e286fdff2e20c320644576b264 Mon Sep 17 00:00:00 2001 From: G_Zod01 Date: Sat, 6 Apr 2024 14:48:25 +0200 Subject: [PATCH 2/2] h --- .lastmatch.java.un~ | Bin 4836 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 .lastmatch.java.un~ diff --git a/.lastmatch.java.un~ b/.lastmatch.java.un~ deleted file mode 100644 index 0d55324ea41bb83aadd42f4a959f553536d11165..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4836 zcmeHK&2Jk;6i-VjY+Fz(3Wa`1Qv<>2$0iMFp&t=-Y6k*M9628qAY{h7V|&!yo$bu5 zV~Toc{{#+Pxq-yL!3ER{2Tt4(H#i}2gZE~3owZ}9hFmx>QsSMN_j}*(&CDhbzuJh( z;+Kj2UoL#IvU&8+@00c9hvP>c&mTPf`tJ`ue)RRvKh>ZA?X|~WOiWBXgundQ2NV3m zk$sza^H`Z4uq*W+?S9|?jMyyx1*6BNkL>@+SRODgPbnYf5S!UIgyYjR9Dlr=E*U9uWC7LPCB=M*uF;zq*lH5xe`R*G^nj-Qv7g5AghBs1no(SE02@T*kbS1L% zgk&!3ut*0&#IA@#(8ImWBSvL4UQU&|v^%~{rN2diQQ2D-TF6Q_v*i4kz@_C4gsi0G z!`+lqxC^F7G;kx@;Vp``x*yW5Rj$2uO$0$HY6VOo$N6y;2$QPh;0D928X12hgKNVW z^bD4)~&&++AC*uGUK{<$A5MR#~rCR&G_xm6~zbtw9DK zF)3EX7LyCC4b5K29=9Dk?n15fLB+5EGq#g!EHh-@jLUgAno)+c+8n7p>Ae-VR@to7 z)~sBxe_QUqw7;Lh4l8>a?AXcKk9llz@1H1N+RhtOadl}Z{iIPw*4z3P~Oo1>0iB!eojV-%5lTeQR?^?20U z4(7({1;D=ZMC^uY3_=&HwL7I+d1}gJU}_ay@tB6INzp7$I?m2(3N$RZhz*?d&&V;N(LcBE8Jh)hX=2G7;Q%#G7Ey^`qB_&as zN?m}qX5;l@o;rzrs+qM895(@GBW_X1HALABh}aPRhAs2QV0;A=v)@Nx2_z6U-x}`h z^y;=sr$MDQ4;U#5bD>>QB`D<%C~bTG83;CSl41*TET;Y?my*dzau!`@365emq(_04 zi8%@2WQAiwGI|%CcmO7NwmxNlUa<^^i+dVqr_TZL`|v@|nKQ;-L(IubeBLy7E3HT@ zl;RDz$&wBY68M2^ilGk?-DZ#gT}_nNhOk`&ZZ|A9d`i?k5eQjVZFoW8vx1zrA*=^* zt*`UQXI)tGO-ri-VI%;LY7tcHtz8(+!_ihSIne-p$RsI9JC)1_Xw^bZVDrM}$sD|V z$ShHe5x8K*Ohc`Uh=eqP*9f6;3|AZ8B@1L70~H9*T*HAS`Wc)Q2Q-4&vYq8sheRm& z1p?=^T_r7nlbCl|KztTJpe4C4B7A$1LS!h@6BZawrR2