werobot/ftc2024-robotcode
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Zelina974 2024-02-28 12:08:05 +01:00
parent 5221daff7e
commit 7b7944424f
1 changed files with 35 additions and 72 deletions
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107
test.java
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@ -27,8 +27,8 @@ public class ftc2024_autonome_test extends LinearOpMode {
@Override @Override
public void runOpMode() { public void runOpMode() {
lm = hardwareMap.get (DcMotor.class, "lm"); lm = hardwareMap.get (DcMotor.class, "blm");
rm = hardwareMap.get (DcMotor.class, "rm"); rm = hardwareMap.get (DcMotor.class, "brm");
rm.setDirection(DcMotor.Direction.REVERSE); rm.setDirection(DcMotor.Direction.REVERSE);
@ -52,88 +52,51 @@ public class ftc2024_autonome_test extends LinearOpMode {
while (opModeIsActive()){ while (opModeIsActive()){
double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1}; double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1}; double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1};
double [] y = new double[lm_p.length];
double [] x = new double[lm_p.length]; double [] x = new double[lm_p.length];
for(int i = 0; i< lm_p.length; i++){ for(int i = 0; i< lm_p.length; i++){
while (opModeIsActive() && Yaw < 90){ while (opModeIsActive() && Yaw < 90){
lm.setPower(lm_p[i]); lm.setPower(lm_p[i]);
rm.setPower(rm_p[i]); rm.setPower(rm_p[i]);
robotOrientation = imu.getRobotYawPitchRollAngles();
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Yaw : ", Yaw); telemetry.addData("Yaw ", Yaw);
telemetry.addData("I", i);
telemetry.update(); telemetry.update();
yaw_sortie = Yaw; }
}
telemetry.addData("Yaw sortie", yaw_sortie); lm.setPower(0);
telemetry.update(); rm.setPower(0);
robotOrientation = imu.getRobotYawPitchRollAngles();
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
x [i]= Yaw - yaw_sortie;
x [i]= Yaw - 90.0;
/*if (i = 0) {
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
a = yaw_sortie;
a1 = Yaw;
}
if (i = 1){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
b = yaw_sortie;
b1 = Yaw;
}
if (i = 2){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double c = yaw_sortie;
double c1 = Yaw;
}
if (i = 3){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double d = yaw_sortie;
double d1 = Yaw;
}
if (i = 4){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double e = yaw_sortie;
double e1 = Yaw;
}
if (i = 5){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double f = yaw_sortie;
double f1 = Yaw;
}
if (i = 6){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double g = yaw_sortie;
double g1 = Yaw;
}
if (i = 7){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double h = yaw_sortie;
double h1 = Yaw;
}
if (i = 8){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double j = yaw_sortie;
double j1 = Yaw;
}
if (i = 9){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
k = yaw_sortie;
k1 = Yaw;
}
*/
imu.resetYaw(); imu.resetYaw();
robotOrientation = imu.getRobotYawPitchRollAngles();
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Yaw", Yaw);
telemetry.update();
/*
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Yaw", Yaw);
telemetry.update();*/
}
while (opModeIsActive()){
telemetry.addData("0.1", x[0]);
telemetry.addData("0.2", x[1]);
telemetry.addData("0.3", x[2]);
telemetry.addData("0.4", x[3]);
telemetry.addData("0.5", x[4]);
telemetry.addData("0.6", x[5]);
telemetry.addData("0.7", x[6]);
telemetry.addData("0.8", x[7]);
telemetry.addData("0.9", x[8]);
telemetry.addData("1", x[9]);
telemetry.update();
} }
telemetry.addData("0.1", x[0]);
telemetry.addData("0.2", x[1]);
telemetry.addData("0.3", x[2]);
telemetry.addData("0.4", x[3]);
telemetry.addData("0.5", x[4]);
telemetry.addData("0.6", x[5]);
telemetry.addData("0.7", x[6]);
telemetry.addData("0.8", x[7]);
telemetry.addData("0.9", x[8]);
telemetry.addData("1", x[9]);
} }
} }
} }