From 1fb927fb980e78922a2e44653593ec5e0a218882 Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 4 Feb 2024 15:11:23 +0100 Subject: [PATCH 1/5] edit --- ftc2024-autonome.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java index 8123e9e..afab9db 100644 --- a/ftc2024-autonome.java +++ b/ftc2024-autonome.java @@ -45,14 +45,14 @@ public class ftc2024_autonome extends LinearOpMode { runtime.reset(); if (mode){ //mode Elina - while (opModeIsActive() && (runtime.seconds() <= 3.0)) { + while (opModeIsActive() && (runtime.seconds() <= 41*maths.PI/4/speed)) { lm.setPower(1); rm.setPower(-1); telemetry.addData("Leg 1", runtime.seconds()); telemetry.update(); } runtime.reset(); - while (opModeIsActive() && (runtime.seconds() <= 10.0)) { + while (opModeIsActive() && (runtime.seconds() <= 121.92/speed)) { lm.setPower(1); rm.setPower(1); telemetry.addData("Leg 2", runtime.seconds()); From 10eaf27c539e0ab6ae5ece324ccf71e4d2988d9d Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 4 Feb 2024 15:14:11 +0100 Subject: [PATCH 2/5] fix --- ftc2024-autonome.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java index 8fb7ff3..05c9ee8 100644 --- a/ftc2024-autonome.java +++ b/ftc2024-autonome.java @@ -45,14 +45,14 @@ public class ftc2024_autonome extends LinearOpMode { runtime.reset(); if (mode){ //mode Elina - while (opModeIsActive() && (runtime.seconds() <= 41*maths.PI/4/speed)) { + while (opModeIsActive() && (runtime.seconds() <= 41e-2*maths.PI/4/speed)) { lm.setPower(1); rm.setPower(-1); telemetry.addData("Leg 1", runtime.seconds()); telemetry.update(); } runtime.reset(); - while (opModeIsActive() && (runtime.seconds() <= 121.92/speed)) { + while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) { lm.setPower(1); rm.setPower(1); telemetry.addData("Leg 2", runtime.seconds()); From b62cd2ca93af74bcd10bbc33246878365575ca4d Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 4 Feb 2024 15:37:09 +0100 Subject: [PATCH 3/5] fix --- ftc2024-autonome.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java index 05c9ee8..0c47511 100644 --- a/ftc2024-autonome.java +++ b/ftc2024-autonome.java @@ -45,7 +45,7 @@ public class ftc2024_autonome extends LinearOpMode { runtime.reset(); if (mode){ //mode Elina - while (opModeIsActive() && (runtime.seconds() <= 41e-2*maths.PI/4/speed)) { + while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) { lm.setPower(1); rm.setPower(-1); telemetry.addData("Leg 1", runtime.seconds()); From f8e27b675bcb1786948554d092c4265491e39336 Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 4 Feb 2024 15:55:21 +0100 Subject: [PATCH 4/5] add moissoneuse --- ftc2024-carlike.java | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java index b3c3f2a..3309ca1 100644 --- a/ftc2024-carlike.java +++ b/ftc2024-carlike.java @@ -26,6 +26,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity; public class Werobot_FTC2024_carlike extends LinearOpMode { private DcMotor rm; private DcMotor lm; + private DcMotor moissoneuse; private IMU imu; private double helloexp(double t){ return (Math.exp(5*t)-1)/(Math.exp(5)-1); @@ -41,6 +42,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode { boolean already_a = false; telemetry.addData("Status", "Initialized"); telemetry.update(); + boolean already_b = false; lm = hardwareMap.get(DcMotor.class, "blm"); rm = hardwareMap.get(DcMotor.class, "brm"); @@ -127,6 +129,19 @@ public class Werobot_FTC2024_carlike extends LinearOpMode { lm.setPower(lpower); rm.setPower(rpower); + if(gamepad1.b && !already_b){ + already_b=!already_b; + if(moissoneuse.getPower == 0){ + moissoneuse.setPower(1); + }else{ + moissoneuse.setPower(0); + } + } + if(!gamepad1.b && already_b){ + already_b=!already_b; + } + + telemetry.addData("x",x); telemetry.addData("y",y); telemetry.addData("lpow",lpower); From 8e62f18bc6557ba75601ec04538e79a07651184a Mon Sep 17 00:00:00 2001 From: Zelina974 Date: Sun, 4 Feb 2024 16:11:48 +0100 Subject: [PATCH 5/5] edit moissoneuse --- ftc2024-carlike.java | 23 +++++++++++++++++------ 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java index 3309ca1..784e3bb 100644 --- a/ftc2024-carlike.java +++ b/ftc2024-carlike.java @@ -39,10 +39,10 @@ public class Werobot_FTC2024_carlike extends LinearOpMode { double t2; double t3; String mode = "normal"; + boolean already_b = false; boolean already_a = false; telemetry.addData("Status", "Initialized"); telemetry.update(); - boolean already_b = false; lm = hardwareMap.get(DcMotor.class, "blm"); rm = hardwareMap.get(DcMotor.class, "brm"); @@ -130,15 +130,26 @@ public class Werobot_FTC2024_carlike extends LinearOpMode { rm.setPower(rpower); if(gamepad1.b && !already_b){ - already_b=!already_b; - if(moissoneuse.getPower == 0){ - moissoneuse.setPower(1); - }else{ + already_b = !already_b; + if(moissoneuse.getPower == 1){ moissoneuse.setPower(0); + }else{ + moissoneuse.setPower(1); } } if(!gamepad1.b && already_b){ - already_b=!already_b; + already_b = !already_b; + } + if(gamepad1.a && !already_a){ + already_a = !already_a; + if(moissoneuse.getPower == -1){ + moissoneuse.setPower(0); + }else{ + moissoneuse.setPower(-1); + } + if(!gamepad1.a && already_a){ + already_a = !already_a; + } }