From 8e3b2196a10b8cf0ae4b94c616613020fe95f561 Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Mon, 20 May 2024 18:05:40 +0200 Subject: [PATCH] update --- fgc2024Pilotage.java | 27 ++++++++++++++++++++++++--- 1 file changed, 24 insertions(+), 3 deletions(-) diff --git a/fgc2024Pilotage.java b/fgc2024Pilotage.java index 8e8683f..d36100a 100644 --- a/fgc2024Pilotage.java +++ b/fgc2024Pilotage.java @@ -32,11 +32,32 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode { @Override public void runOpMode() throws InterruptedException { - float x; // abscisse joystick gauche - double y; // ordonnées joystick gauche + float x = gamepad1.left_stick_x; // abscisse joystick gauche + double y = gamepad1.left_stick_y; // ordonnées joystick gauche + double lpower = 0.0; //puissance moteur gauche + double rpower = 0.0; //puissance moteur droit telemetry.addData("Status"," Initialized"); - + lm = hardwareMap.get(DcMotorEx.class, "lm"); + rm = hardwareMap.get(DcMotorEx.class, "rm"); + lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); + rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT); + + lpower = ((1+x)*Math.signum(y))/2; + rpower = ((1-x)*Math.signum(y))/2; + + if ( x=1 || x=-1 ){ + lpower = 1*Math.signum(x); + rpower = - lpower; + } + + lpower = lpower*gamepad1.left_trigger; + rpower = lpower*gamepad1.left_trigger; + + rm.setPower(rpower); + lm.setPower(lpower); } } \ No newline at end of file