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

empecher aurelien de faire la pire betise possible

Browse source
This commit is contained in:
Zelina974 2024-04-05 18:03:46 +02:00
parent 8ae24f3088
commit 7f345592ea
1 changed files with 190 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

190
ftc2024_autonome_api.java Normal file
View file

@ -0,0 +1,190 @@
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_api extends LinearOpMode {
public enum AutoMode{
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
}
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() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
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 = "b4d";
telemetry.addData("wait for start", "");
telemetry.update();
waitForStart();
telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
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.forward(0.5);
robot.rotate((-90));
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b4n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2n"):
robot.boxElv();
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
}
}
}
}