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complete autonome

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Zelina974 2024-01-28 16:47:11 +01:00
parent 64056b6fef
commit 808c7e5bd5
1 changed files with 29 additions and 30 deletions
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ftc2024-autonome.java
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@ -16,48 +16,47 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous @Autonomous
public class HelloWorld_ElapsedTime extends LinearOpMode { public class ftc2024_autonome extends LinearOpMode {
private DcMotor leftMotor; private DcMotor rm;
private DcMotor rightMotor; private DcMotor lm;
private DcMotor arm;
private Servo claw;
private DigitalChannel touch;
private Gyroscope imu;
private ElapsedTime runtime = new ElapsedTime(); private ElapsedTime runtime = new ElapsedTime();
@Override @Override
public void runOpMode() { public void runOpMode() {
imu = hardwareMap.get(Gyroscope.class, "imu"); lm = hardwareMap.get(DcMotor.class, "blm");
leftMotor = hardwareMap.get(DcMotor.class, "leftmotor"); rm = hardwareMap.get(DcMotor.class, "brm");
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);
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.update(); telemetry.update();
boolean mode = true;
// Wait for the game to start (driver presses PLAY) // Wait for the game to start (driver presses PLAY)
waitForStart(); waitForStart();
// run until the end of the match (driver presses STOP)
runtime.reset(); runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 3.0)) { while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
leftMotor.setPower(1); leftMotor.setPower(1);
rightMotor.setPower(1); rightMotor.setPower(1);
telemetry.addData("Leg 1", runtime.seconds()); telemetry.addData("Leg 1", runtime.seconds());
telemetry.update(); telemetry.update();
} }
}
runtime.reset(); else {
//mode Aurelien
while (opModeIsActive() && (runtime.seconds() <= 3.0)) { while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
leftMotor.setPower(-1); leftMotor.setPower(-1);
rightMotor.setPower(-1); rightMotor.setPower(-1);
telemetry.addData("Leg 2", runtime.seconds()); telemetry.addData("Leg 2", runtime.seconds());
telemetry.update(); telemetry.update();
} }
}
// run until the end of the match (driver presses STOP)
} }