From 9a0787b53dca95d8a7ca21fa125e3fbcb2b07f65 Mon Sep 17 00:00:00 2001
From: G_Zod01 <gzod01@gzod01.fr>
Date: Sat, 6 Apr 2024 10:46:55 +0200
Subject: [PATCH] how_are_you_?

---
 .FTC2024WeRobotControl.java.un~ | Bin 14940 -> 0 bytes
 FTC2024WeRobotControl.java~     | 211 --------------------------------
 2 files changed, 211 deletions(-)
 delete mode 100644 .FTC2024WeRobotControl.java.un~
 delete mode 100644 FTC2024WeRobotControl.java~

diff --git a/.FTC2024WeRobotControl.java.un~ b/.FTC2024WeRobotControl.java.un~
deleted file mode 100644
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diff --git a/FTC2024WeRobotControl.java~ b/FTC2024WeRobotControl.java~
deleted file mode 100644
index ac32b97..0000000
--- a/FTC2024WeRobotControl.java~
+++ /dev/null
@@ -1,211 +0,0 @@
-package org.firstinspires.ftc.teamcode;//a tester car pas sur que ça fonctionne
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import com.qualcomm.robotcore.hardware.IMU;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-public class FTC2024WeRobotControl {
-	/*
-	 * The Parent class {@see FTC2024WeRobotControl constructor}
-	 */
-	private Ftc2024_autonome_api Parent;
-	/*
-	 * the wheel width in metres
-	 */
-	private final double wheel_width = 9.0e-2; // metres
-	/*
-	 * the wheel perimeter in meter
-	 */
-	private final double wheel_perimeter = Math.PI * wheel_width;
-	/*
-	 * the rpm at max power of the motors
-	 */
-	private final double tour_par_minutes = 300.0;
-	/*
-	 * the width size of the tiles on the ground in metres
-	 */
-	private final double ground_tiles_width = 61.0e-2; // metres
-							   //
-	private final double defaultspeed = 0.6;
-
-	private ElapsedTime timer;
-
-	private YawPitchRollAngles robotOrientation;
-
-	/*
-	 * construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class
-	 * for the FTC2024
-	 *
-	 * @param Parent = the parent class, use the "this" keyword if you are
-	 * constructing the class directly in
-	 */
-
-	public FTC2024WeRobotControl(Ftc2024_autonome_api Parent) {
-		this.Parent = Parent;
-		this.timer = new ElapsedTime();
-	}
-
-	public void boxElv() {
-		Parent.lmelevator.setVelocity(600);
-		Parent.rmelevator.setVelocity(600);
-		Parent.lmelevator.setTargetPosition(90);
-		Parent.rmelevator.setTargetPosition(90);
-		Parent.rotation.setVelocity(600);
-		Parent.rotation.setTargetPosition(-50);
-		Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-		Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-		Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-	}
-
-
-	public void posBasse(){
-		Parent.lmelevator.setVelocity(600);
-		Parent.rmelevator.setVelocity(600);
-		Parent.rotation.setVelocity(600);
-		Parent.lmelevator.setTargetPosition(0);
-		Parent.rmelevator.setTargetPosition(0);
-		Parent.rotation.setTargetPosition(800);
-		Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-		Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-		Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-
-	}
-	/*
-	 * return a metre/sec speed
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-
-	public double getSpeedFromMotorSpeed(double motor_speed) {
-		double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
-		double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
-		return speed;
-	}
-
-
-	/*
-	 * return the needed time for a distance
-	 *
-	 * @param dist = distance in metre
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-	public double time_for_dist(double dist, double motor_speed) {
-		double speed = getSpeedFromMotorSpeed(motor_speed);
-		return (dist / speed);
-	}
-
-	/*
-	 * go forward
-	 *
-	 * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
-	 * etc.)
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-	public void forward(double n_tiles, double motor_speed) {
-		double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
-		timer.reset();
-		while (Parent.opModeIsActive() && timer.seconds() < total_time) {
-			Parent.lm.setPower(motor_speed);
-			Parent.rm.setPower(motor_speed);
-		}
-		Parent.lm.setPower(0);
-		Parent.rm.setPower(0);
-	}
-
-	/*
-	 * go forward
-	 * when only one argument passed:
-	 * 
-	 * @param n_tiles number of tiles
-	 */
-	public void forward(double n_tiles) {
-		this.forward(n_tiles, this.defaultspeed);
-	}
-
-	/*
-	 * go backward
-	 *
-	 * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
-	 * etc.)
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-	public void backward(double n_tiles, double motor_speed) {
-		forward(n_tiles, -motor_speed);
-	}
-
-	public void backward(double n_tiles) {
-		this.backward(n_tiles, this.defaultspeed);
-	}
-
-	/*
-	 * harvest
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-	public void harvest(double motor_speed) {
-		Parent.harvestmotor.setPower(motor_speed);
-	}
-
-	public void harvest() {
-		this.harvest(1.0);
-	}
-
-	/*
-	 * rotate
-	 *
-	 * @param angle = the angle to rotate (in degrees)
-	 *
-	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
-	 * to 1
-	 */
-	public void rotate(double angle, double motor_speed) {
-		robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
-		double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-		double anglerad = Math.toRadians(angle);
-		angle = Math.toDegrees(Math.atan2(Math.sin(anglerad), Math.cos(anglerad)));
-		double left_multiplier = -((double) Math.signum(angle));
-		double right_multiplier = ((double) Math.signum(angle));
-		double m_power = motor_speed;
-		if (Math.abs(angle) == 180) {
-			angle = (double) (((double) Math.signum(angle)) * 179.9);
-		}
-		while (Parent.opModeIsActive()
-				&& (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))) {
-			robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
-			double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-			Parent.telemetry.addData("Yaw", yaw);
-			Parent.telemetry.update();
-			m_power = (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw));// relative
-			Parent.lm.setPower(left_multiplier * m_power);
-			Parent.rm.setPower(right_multiplier * m_power);
-				}
-		Parent.lm.setPower(0);
-		Parent.rm.setPower(0);
-	}
-
-	public void rotate(double angle) {
-		this.rotate(angle, this.defaultspeed);
-	}
-
-}