werobot/ftc2024-robotcode
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update

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Zelina974 2024-05-20 18:05:40 +02:00
parent 49caf3df3d
commit 8e3b2196a1
1 changed files with 24 additions and 3 deletions
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27
fgc2024Pilotage.java
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@ -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);
}
}