werobot/ftc2024-robotcode
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Update autonome_api.java

Browse source
This commit is contained in:
GZod01 2024-03-07 16:38:24 +01:00 committed by GitHub
parent 469536a486
commit 7cd7be1f14
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
1 changed files with 13 additions and 2 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
autonome_api.java
View file

@ -22,6 +22,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
public class ftc2024_autonome_api extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
private DcMotor harvestmotor;
private IMU imu;
private final double wheel_width = 9.0e-2; // metres
private final double wheel_perimeter = Math.PI * wheel_width;
@ -50,6 +51,12 @@ public class ftc2024_autonome_api extends LinearOpMode {
lm.setPower(0);
rm.setPower(0);
}
public void backward(double n_tiles, double motor_speed= 1.0){
forward(n_tiles, -motor_speed);
}
public void harvest(double motor_speed=0.0){
harvestmotor.setPower(motor_speed);
}
public void rotate(double angle, double motor_speed=1.0){
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
angle = 200.0;
@ -72,6 +79,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
public void runOpMode() {
lm = hardwareMap.get (DcMotor.class, "blm");
rm = hardwareMap.get (DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "flm");
rm.setDirection(DcMotor.Direction.REVERSE);
@ -94,7 +102,10 @@ public class ftc2024_autonome_api extends LinearOpMode {
if(opModeIsRunning()){
forward(0.5);
rotate(-90);
forward(2);
rotate(-90.0);
forward(1.5);
harvest(-1);
backward(1);
harvest(0);
}
}