From a426d6d40a153142201c2b81d1f64f4dc545fa46 Mon Sep 17 00:00:00 2001 From: Zelina974 <155895303+Zelina974@users.noreply.github.com> Date: Sun, 10 Mar 2024 17:04:53 +0100 Subject: [PATCH] Update ftc2024_autonome_api.java MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit ça fonctionne --- ftc2024_autonome_api.java | 236 +++++++++++++++++--------------------- 1 file changed, 106 insertions(+), 130 deletions(-) diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java index fffde94..c4a3ee5 100644 --- a/ftc2024_autonome_api.java +++ b/ftc2024_autonome_api.java @@ -1,6 +1,6 @@ package org.firstinspires.ftc.teamcode; -import fr.werobot.ftc2024.robotcontrol.FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne +//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; @@ -21,146 +21,122 @@ import com.qualcomm.robotcore.util.ElapsedTime; @Autonomous -public class ftc2024_autonome_api extends LinearOpMode { +public class Ftc2024_autonome_api extends LinearOpMode { public String autonomous_mode; public DcMotor lm; public DcMotor rm; public DcMotor harvestmotor; public IMU imu; - public YawPitchRollAngle robotOrientation; + + + @Override public void runOpMode() { - lm = hardwareMap.get(DcMotor.class, "blm"); - rm = hardwareMap.get(DcMotor.class, "brm"); - harvestmotor = hardwareMap.get(DcMotor.class, "flm"); + lm = hardwareMap.get(DcMotor.class, "blm"); + rm = hardwareMap.get(DcMotor.class, "brm"); + harvestmotor = hardwareMap.get(DcMotor.class, "flm"); - rm.setDirection(DcMotor.Direction.REVERSE); + rm.setDirection(DcMotor.Direction.REVERSE); - imu = hardwareMap.get(IMU.class, "imu"); - imu.initialize( - new IMU.Parameters( - new RevHubOrientationOnRobot( - RevHubOrientationOnRobot.LogoFacingDirection.UP, - RevHubOrientationOnRobot.UsbFacingDirection.FORWARD - ) - ) - ); - imu.resetYaw(); - // YawPitchRollAngle robotOrientation; // FTC2024WeRobotControl à besoin de robotOrientation comme variable de Parent (donc de cette classe actuelle), n'est il pas posible de définir robotOrientation dans la classe? - FTC2024WeRobotControl robot = FTC2024WeRobotControl(this); + imu = hardwareMap.get(IMU.class, "imu"); + imu.initialize( + new IMU.Parameters( + new RevHubOrientationOnRobot( + RevHubOrientationOnRobot.LogoFacingDirection.UP, + RevHubOrientationOnRobot.UsbFacingDirection.FORWARD + ) + ) + ); + imu.resetYaw(); + YawPitchRollAngles robotOrientation; + FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this); + autonomous_mode = "b4d"; + + telemetry.addData("wait for start",""); + telemetry.update(); - waitForStart(); - robotOrientation = imu.getYawPitchRollAngles(); + waitForStart(); + telemetry.addData("started",""); + telemetry.update(); + robotOrientation = imu.getRobotYawPitchRollAngles(); + + if(opModeIsActive()){ + /* + * autonomous_mode differents possibles values respect the next scheme: + * team_color_shortcode + start_line_index + direct_or_no + * + * team_color_shortcode = "b" for blue & "r" for red + * start_line_index = 4 or 2 see competition manual appendix B Tile location plan + * direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone + * + * default is "b4d" + */ + switch (autonomous_mode){ + case ("b4d"): + telemetry.addData("cas b4d lancé",""); + telemetry.update(); + robot.forward(0.5); + robot.rotate(-90.0); + robot.forward(1.5); + robot.harvest(-1); + robot.backward(1); + robot.harvest(0); + telemetry.addData("fin de b4d",""); + telemetry.update(); + break; + case ("b2d"): + telemetry.addData("cas b2d lancé",""); + telemetry.update(); + robot.forward(0.5); + robot.rotate(-90.0); + robot.forward(2.5); + robot.harvest(-1); + robot.backward(1); + robot.harvest(0); + telemetry.addData("fin de b2d",""); + telemetry.update(); + break; + case ("r4d"): + telemetry.addData("cas r4d lancé",""); + telemetry.update(); + robot.forward(0.5); + robot.rotate(90.0); + robot.forward(1.5); + robot.harvest(-1); + robot.backward(1); + robot.harvest(0); + telemetry.addData("fin de r4d",""); + telemetry.update(); + break; + case ("r2d"): + telemetry.addData("cas r2d lancé",""); + telemetry.update(); + robot.forward(0.5); + robot.rotate(90.0); + robot.forward(2.5); + robot.harvest(-1); + robot.backward(1); + robot.harvest(0); + telemetry.addData("fin de r2d",""); + telemetry.update(); + break; - if(opModeIsRunning()){ - /* - * autonomous_mode differents possibles values respect the next scheme: - * team_color_shortcode + start_line_index + direct_or_no - * - * team_color_shortcode = "b" for blue & "r" for red - * start_line_index = 4 or 2 see competition manual appendix B Tile location plan - * direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone - * - * default is "b4d" - */ - switch (autonomous_mode){ - default: - robot.forward(0.5); - robot.rotate((-90)); - robot.forward(1.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("b2d"): - robot.forward(0.5); - robot.rotate((-90)); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("r4d"): - robot.forward(0.5); - robot.rotate(90); - robot.forward(1.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("r2d"): - robot.forward(0.5); - robot.rotate(90); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("b4n"): - robot.forward(1.5); - robot.rotate(90); - robot.harvest(); - robot.forward(3); - robot.harvest(0); - robot.rotate(180); - robot.forward(1); - robot.rotate(-90); - robot.forward(1); - robot.rotate(90); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("b2n"): - robot.forward(1.5); - robot.rotate(90); - robot.harvest(); - robot.forward(1); - robot.harvest(0); - robot.rotate(180); - robot.forward(1); - robot.rotate(-90); - robot.forward(1); - robot.rotate(90); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("r4n"): - robot.forward(1.5); - robot.rotate(-90); - robot.harvest(); - robot.forward(3); - robot.harvest(0); - robot.rotate(180); - robot.forward(1); - robot.rotate(90); - robot.forward(1); - robot.rotate(-90); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - break; - case ("r2n"): - robot.forward(1.5); - robot.rotate(-90); - robot.harvest(); - robot.forward(1); - robot.harvest(0); - robot.rotate(180); - robot.forward(1); - robot.rotate(90); - robot.forward(1); - robot.rotate(-90); - robot.forward(2.5); - robot.harvest(-1); - robot.backward(1); - robot.harvest(0); - } - } + case ("b4n"): + + break; + case ("b2n"): + + break; + case ("r4n"): + + break; + case ("r2n"): + + break; + default: + break; + } + } } }