From 808c7e5bd50d221ef6e8cc8d08439ee97f1e623e Mon Sep 17 00:00:00 2001
From: Zelina974 <elina.claerebout@gmail.com>
Date: Sun, 28 Jan 2024 16:47:11 +0100
Subject: [PATCH] complete autonome

---
 ftc2024-autonome.java | 59 +++++++++++++++++++++----------------------
 1 file changed, 29 insertions(+), 30 deletions(-)

diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java
index 0e43f00..47c1ee5 100644
--- a/ftc2024-autonome.java
+++ b/ftc2024-autonome.java
@@ -16,48 +16,47 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 
 @Autonomous
 
-public class HelloWorld_ElapsedTime extends LinearOpMode {
-	private DcMotor leftMotor;
-	private DcMotor rightMotor;
-	private DcMotor arm;
-	private Servo claw;
-	private DigitalChannel touch;
-	private Gyroscope imu; 
+public class ftc2024_autonome extends LinearOpMode {
+	private DcMotor rm;
+	private DcMotor lm;
 	private ElapsedTime     runtime = new ElapsedTime();
 
 	@Override
 	public void runOpMode() {
-		imu = hardwareMap.get(Gyroscope.class, "imu");
-		leftMotor = hardwareMap.get(DcMotor.class, "leftmotor");
-		rightMotor = hardwareMap.get(DcMotor.class, "rightmotor");
-		arm = hardwareMap.get(DcMotor.class, "arm");
-		claw = hardwareMap.get(Servo.class, "claw");
-		touch = hardwareMap.get(DigitalChannel.class, "touch");
-		leftMotor.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
-		rightMotor.setDirection(DcMotor.Direction.REVERSE);
-
+		lm = hardwareMap.get(DcMotor.class, "blm");
+		rm = hardwareMap.get(DcMotor.class, "brm");
 		telemetry.addData("Status", "Initialized");
 		telemetry.update();
+        boolean mode = true;
 		// Wait for the game to start (driver presses PLAY)
 		waitForStart();
 
+        runtime.reset();
+        if (mode){
+            //mode Elina
+            while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
+                leftMotor.setPower(1);
+                rightMotor.setPower(1);
+                telemetry.addData("Leg 1", runtime.seconds());
+                telemetry.update();
+            }
+        }
+        else {
+            //mode Aurelien
+            while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
+                leftMotor.setPower(-1);
+                rightMotor.setPower(-1);
+                telemetry.addData("Leg 2", runtime.seconds());
+                telemetry.update();
+            }
+        }
 		// run until the end of the match (driver presses STOP)
 
-		runtime.reset();
-		while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
-			leftMotor.setPower(1);
-			rightMotor.setPower(1);
-			telemetry.addData("Leg 1", runtime.seconds());
-			telemetry.update();
-		}
+		
+		
 
-		runtime.reset();
-		while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
-			leftMotor.setPower(-1);
-			rightMotor.setPower(-1);
-			telemetry.addData("Leg 2", runtime.seconds());
-			telemetry.update();
-		}
+
+		
 
 	}