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Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode

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This commit is contained in:
Zelina974 2024-04-06 14:48:52 +02:00
commit 7afcf0aa8d
2 changed files with 134 additions and 5 deletions
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10
ftc2024_autonome_api.java
View file

@ -100,7 +100,7 @@ public class Ftc2024_autonome_api{
robot.boxElv();
robot.harvest(1);
robot.forward(2);
robot.harvest(0);
/*robot.harvest(0);
robot.rotate((-90));
robot.posBasse();
while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) {
@ -111,7 +111,7 @@ public class Ftc2024_autonome_api{
robot.harvest(-1);
robot.backward(0.5);
robot.harvest(0);
robot.forward(0.5);
robot.forward(0.5);*/
break;
case B2D:
imu.resetYaw();
@ -123,13 +123,13 @@ public class Ftc2024_autonome_api{
telemetry.update();
}
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();

129
lastmatch.java Normal file
View file

@ -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;
}
}
}
}