Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode
This commit is contained in:
Zelina974
commit
95cb879f7b
1 changed files with 88 additions and 64 deletions
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@ -38,7 +38,7 @@ public class FTC2024WeRobotControl {
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* the width size of the tiles on the ground in metres
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*/
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private final double ground_tiles_width = 61.0e-2; // metres
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//
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//
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private final double defaultspeed = 0.6;
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private ElapsedTime timer;
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@ -54,8 +54,8 @@ public class FTC2024WeRobotControl {
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*/
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public FTC2024WeRobotControl(Ftc2024_autonome_api Parent) {
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this.Parent = Parent;
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this.timer = new ElapsedTime();
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this.Parent = Parent;
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this.timer = new ElapsedTime();
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}
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/*
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@ -77,27 +77,45 @@ public class FTC2024WeRobotControl {
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Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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public void boxElv() {
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Parent.lmelevator.setVelocity(600);
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Parent.rmelevator.setVelocity(600);
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Parent.lmelevator.setTargetPosition(90);
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Parent.rmelevator.setTargetPosition(90);
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Parent.rotation.setVelocity(600);
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Parent.rotation.setTargetPosition(-50);
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Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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public void posBasse(){
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Parent.lmelevator.setVelocity(600);
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Parent.rmelevator.setVelocity(600);
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Parent.rotation.setVelocity(600);
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Parent.lmelevator.setTargetPosition(0);
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Parent.rmelevator.setTargetPosition(0);
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Parent.rotation.setTargetPosition(800);
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Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.lmelevator.setVelocity(600);
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Parent.rmelevator.setVelocity(600);
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Parent.rotation.setVelocity(600);
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Parent.lmelevator.setTargetPosition(0);
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Parent.rmelevator.setTargetPosition(0);
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Parent.rotation.setTargetPosition(800);
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Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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/*
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* return a metre/sec speed
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*
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* @param motor_speed = (optional) double between 0 and 1; motor power; default
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* to 1
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*/
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public double getSpeedFromMotorSpeed(double motor_speed) {
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double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
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double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
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return speed;
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double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
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double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
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return speed;
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}
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/*
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* return the needed time for a distance
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*
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@ -107,8 +125,8 @@ public class FTC2024WeRobotControl {
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* to 1
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*/
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public double time_for_dist(double dist, double motor_speed) {
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double speed = getSpeedFromMotorSpeed(motor_speed);
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return (dist / speed);
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double speed = getSpeedFromMotorSpeed(motor_speed);
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return (dist / speed);
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}
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/*
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@ -121,18 +139,24 @@ public class FTC2024WeRobotControl {
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* to 1
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*/
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public void forward(double n_tiles, double motor_speed) {
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double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
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timer.reset();
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while (Parent.opModeIsActive() && timer.seconds() < total_time) {
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Parent.lm.setPower(motor_speed);
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Parent.rm.setPower(motor_speed);
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}
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Parent.lm.setPower(0);
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Parent.rm.setPower(0);
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double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
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timer.reset();
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while (Parent.opModeIsActive() && timer.seconds() < total_time) {
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Parent.lm.setPower(motor_speed);
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Parent.rm.setPower(motor_speed);
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}
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Parent.lm.setPower(0);
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Parent.rm.setPower(0);
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}
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public void forward(double n_tiles){
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this.forward(n_tiles,this.defaultspeed);
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/*
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* go forward
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* when only one argument passed:
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*
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* @param n_tiles number of tiles
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*/
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public void forward(double n_tiles) {
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this.forward(n_tiles, this.defaultspeed);
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}
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/*
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@ -145,11 +169,11 @@ public class FTC2024WeRobotControl {
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* to 1
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*/
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public void backward(double n_tiles, double motor_speed) {
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forward(n_tiles, -motor_speed);
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forward(n_tiles, -motor_speed);
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}
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public void backward(double n_tiles){
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this.backward(n_tiles,this.defaultspeed);
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public void backward(double n_tiles) {
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this.backward(n_tiles, this.defaultspeed);
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}
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/*
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@ -159,10 +183,11 @@ public class FTC2024WeRobotControl {
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* to 1
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*/
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public void harvest(double motor_speed) {
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Parent.harvestmotor.setPower(motor_speed);
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Parent.harvestmotor.setPower(motor_speed);
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}
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public void harvest() {
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this.harvest(1.0);
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this.harvest(1.0);
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}
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/*
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@ -173,34 +198,33 @@ public class FTC2024WeRobotControl {
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* @param motor_speed = (optional) double between 0 and 1; motor power; default
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* to 1
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*/
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public void rotate(double angle, double motor_speed){
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robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
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double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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double anglerad = Math.toRadians(angle);
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angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
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double left_multiplier = -((double) Math.signum(angle));
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double right_multiplier = ((double) Math.signum(angle));
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double m_power = motor_speed;
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if(Math.abs(angle)==180){
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angle = (double) ( ( (double) Math.signum(angle) ) * 179.9 );
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}
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while(Parent.opModeIsActive() && (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){
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robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
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double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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Parent.telemetry.addData("Yaw", yaw);
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Parent.telemetry.update();
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m_power = (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES)-start_yaw));//relative
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Parent.lm.setPower(left_multiplier*m_power);
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Parent.rm.setPower(right_multiplier*m_power);
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}
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Parent.lm.setPower(0);
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Parent.rm.setPower(0);
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}
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public void rotate(double angle){
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this.rotate(angle,this.defaultspeed);
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public void rotate(double angle, double motor_speed) {
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robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
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double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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double anglerad = Math.toRadians(angle);
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angle = Math.toDegrees(Math.atan2(Math.sin(anglerad), Math.cos(anglerad)));
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double left_multiplier = -((double) Math.signum(angle));
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double right_multiplier = ((double) Math.signum(angle));
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double m_power = motor_speed;
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if (Math.abs(angle) == 180) {
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angle = (double) (((double) Math.signum(angle)) * 179.9);
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}
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while (Parent.opModeIsActive()
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&& (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))) {
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robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
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double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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Parent.telemetry.addData("Yaw", yaw);
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Parent.telemetry.update();
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m_power = (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw));// relative
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Parent.lm.setPower(left_multiplier * m_power);
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Parent.rm.setPower(right_multiplier * m_power);
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}
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Parent.lm.setPower(0);
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Parent.rm.setPower(0);
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}
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public void test_forward_10_and_rotate_20deg(){
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public void rotate(double angle) {
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this.rotate(angle, this.defaultspeed);
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}
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}
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