werobot/ftc2024-robotcode
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Update ftc2024_autonome_api.java

Browse source 
ça fonctionne
This commit is contained in:
Zelina974 2024-03-10 17:04:53 +01:00 committed by GitHub
parent 2af007c7de
commit a426d6d40a
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
1 changed files with 106 additions and 130 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

112
ftc2024_autonome_api.java
View file

@ -1,6 +1,6 @@
package org.firstinspires.ftc.teamcode; 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; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@ -21,13 +21,15 @@ import com.qualcomm.robotcore.util.ElapsedTime;
@Autonomous @Autonomous
public class ftc2024_autonome_api extends LinearOpMode { public class Ftc2024_autonome_api extends LinearOpMode {
public String autonomous_mode; public String autonomous_mode;
public DcMotor lm; public DcMotor lm;
public DcMotor rm; public DcMotor rm;
public DcMotor harvestmotor; public DcMotor harvestmotor;
public IMU imu; public IMU imu;
public YawPitchRollAngle robotOrientation;
@Override @Override
public void runOpMode() { public void runOpMode() {
@ -47,13 +49,19 @@ public class ftc2024_autonome_api extends LinearOpMode {
) )
); );
imu.resetYaw(); 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? YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = FTC2024WeRobotControl(this); FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d";
telemetry.addData("wait for start","");
telemetry.update();
waitForStart(); waitForStart();
robotOrientation = imu.getYawPitchRollAngles(); telemetry.addData("started","");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
if(opModeIsRunning()){ if(opModeIsActive()){
/* /*
* autonomous_mode differents possibles values respect the next scheme: * autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no * team_color_shortcode + start_line_index + direct_or_no
@ -65,101 +73,69 @@ public class ftc2024_autonome_api extends LinearOpMode {
* default is "b4d" * default is "b4d"
*/ */
switch (autonomous_mode){ switch (autonomous_mode){
default: case ("b4d"):
telemetry.addData("cas b4d lancé","");
telemetry.update();
robot.forward(0.5); robot.forward(0.5);
robot.rotate((-90)); robot.rotate(-90.0);
robot.forward(1.5); robot.forward(1.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
telemetry.addData("fin de b4d","");
telemetry.update();
break; break;
case ("b2d"): case ("b2d"):
telemetry.addData("cas b2d lancé","");
telemetry.update();
robot.forward(0.5); robot.forward(0.5);
robot.rotate((-90)); robot.rotate(-90.0);
robot.forward(2.5); robot.forward(2.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
telemetry.addData("fin de b2d","");
telemetry.update();
break; break;
case ("r4d"): case ("r4d"):
telemetry.addData("cas r4d lancé","");
telemetry.update();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90.0);
robot.forward(1.5); robot.forward(1.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
telemetry.addData("fin de r4d","");
telemetry.update();
break; break;
case ("r2d"): case ("r2d"):
telemetry.addData("cas r2d lancé","");
telemetry.update();
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90); robot.rotate(90.0);
robot.forward(2.5); robot.forward(2.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
telemetry.addData("fin de r2d","");
telemetry.update();
break; break;
case ("b4n"): 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; break;
case ("b2n"): 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; break;
case ("r4n"): 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; break;
case ("r2n"): case ("r2n"):
robot.forward(1.5);
robot.rotate(-90); break;
robot.harvest(); default:
robot.forward(1); break;
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);
} }
} }
} }