werobot/ftc2024-robotcode
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Merge branch 'master' of github.com:GZod01/ftc2024-robotcode

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This commit is contained in:
GZod01 2024-02-04 16:14:57 +01:00
commit 942c69b18f
2 changed files with 28 additions and 2 deletions
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4
ftc2024-autonome.java
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@ -45,14 +45,14 @@ public class ftc2024_autonome extends LinearOpMode {
runtime.reset(); runtime.reset();
if (mode){ if (mode){
//mode Elina //mode Elina
while (opModeIsActive() && (runtime.seconds() <= 3.0)) { while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
lm.setPower(1); lm.setPower(1);
rm.setPower(-1); rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds()); telemetry.addData("Leg 1", runtime.seconds());
telemetry.update(); telemetry.update();
} }
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 10.0)) { while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1); lm.setPower(1);
rm.setPower(1); rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds()); telemetry.addData("Leg 2", runtime.seconds());

26
ftc2024-carlike.java
View file

@ -26,6 +26,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
public class Werobot_FTC2024_carlike extends LinearOpMode { public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm; private DcMotor rm;
private DcMotor lm; private DcMotor lm;
private DcMotor moissoneuse;
private IMU imu; private IMU imu;
private double helloexp(double t){ private double helloexp(double t){
return (Math.exp(5*t)-1)/(Math.exp(5)-1); return (Math.exp(5*t)-1)/(Math.exp(5)-1);
@ -38,6 +39,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
double t2; double t2;
double t3; double t3;
String mode = "normal"; String mode = "normal";
boolean already_b = false;
boolean already_a = false; boolean already_a = false;
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.update(); telemetry.update();
@ -127,6 +129,30 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
lm.setPower(lpower); lm.setPower(lpower);
rm.setPower(rpower); rm.setPower(rpower);
if(gamepad1.b && !already_b){
already_b = !already_b;
if(moissoneuse.getPower == 1){
moissoneuse.setPower(0);
}else{
moissoneuse.setPower(1);
}
}
if(!gamepad1.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;
}
}
telemetry.addData("x",x); telemetry.addData("x",x);
telemetry.addData("y",y); telemetry.addData("y",y);
telemetry.addData("lpow",lpower); telemetry.addData("lpow",lpower);