Update ftc2024_autonome_api.java
ça fonctionne
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Zelina974
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1 changed files with 106 additions and 130 deletions
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@ -1,6 +1,6 @@
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package org.firstinspires.ftc.teamcode;
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import fr.werobot.ftc2024.robotcontrol.FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
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//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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@ -21,146 +21,122 @@ import com.qualcomm.robotcore.util.ElapsedTime;
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@Autonomous
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public class ftc2024_autonome_api extends LinearOpMode {
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public class Ftc2024_autonome_api extends LinearOpMode {
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public String autonomous_mode;
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public DcMotor lm;
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public DcMotor rm;
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public DcMotor harvestmotor;
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public IMU imu;
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public YawPitchRollAngle robotOrientation;
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@Override
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public void runOpMode() {
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lm = hardwareMap.get(DcMotor.class, "blm");
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rm = hardwareMap.get(DcMotor.class, "brm");
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harvestmotor = hardwareMap.get(DcMotor.class, "flm");
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lm = hardwareMap.get(DcMotor.class, "blm");
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rm = hardwareMap.get(DcMotor.class, "brm");
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harvestmotor = hardwareMap.get(DcMotor.class, "flm");
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rm.setDirection(DcMotor.Direction.REVERSE);
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rm.setDirection(DcMotor.Direction.REVERSE);
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imu = hardwareMap.get(IMU.class, "imu");
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imu.initialize(
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new IMU.Parameters(
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new RevHubOrientationOnRobot(
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RevHubOrientationOnRobot.LogoFacingDirection.UP,
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RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
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)
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)
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);
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imu.resetYaw();
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// 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?
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FTC2024WeRobotControl robot = FTC2024WeRobotControl(this);
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imu = hardwareMap.get(IMU.class, "imu");
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imu.initialize(
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new IMU.Parameters(
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new RevHubOrientationOnRobot(
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RevHubOrientationOnRobot.LogoFacingDirection.UP,
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RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
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)
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)
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);
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imu.resetYaw();
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YawPitchRollAngles robotOrientation;
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FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
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autonomous_mode = "b4d";
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waitForStart();
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robotOrientation = imu.getYawPitchRollAngles();
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telemetry.addData("wait for start","");
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telemetry.update();
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if(opModeIsRunning()){
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/*
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* autonomous_mode differents possibles values respect the next scheme:
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* team_color_shortcode + start_line_index + direct_or_no
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*
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* team_color_shortcode = "b" for blue & "r" for red
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* start_line_index = 4 or 2 see competition manual appendix B Tile location plan
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* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone
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*
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* default is "b4d"
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*/
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switch (autonomous_mode){
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default:
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robot.forward(0.5);
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robot.rotate((-90));
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("b2d"):
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robot.forward(0.5);
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robot.rotate((-90));
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("r4d"):
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robot.forward(0.5);
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robot.rotate(90);
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("r2d"):
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robot.forward(0.5);
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robot.rotate(90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("b4n"):
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robot.forward(1.5);
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robot.rotate(90);
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robot.harvest();
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robot.forward(3);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("b2n"):
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robot.forward(1.5);
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robot.rotate(90);
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robot.harvest();
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robot.forward(1);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("r4n"):
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robot.forward(1.5);
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robot.rotate(-90);
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robot.harvest();
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robot.forward(3);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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break;
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case ("r2n"):
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robot.forward(1.5);
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robot.rotate(-90);
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robot.harvest();
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robot.forward(1);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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}
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}
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waitForStart();
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telemetry.addData("started","");
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telemetry.update();
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robotOrientation = imu.getRobotYawPitchRollAngles();
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if(opModeIsActive()){
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/*
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* autonomous_mode differents possibles values respect the next scheme:
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* team_color_shortcode + start_line_index + direct_or_no
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*
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* team_color_shortcode = "b" for blue & "r" for red
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* start_line_index = 4 or 2 see competition manual appendix B Tile location plan
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* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone
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*
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* default is "b4d"
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*/
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switch (autonomous_mode){
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case ("b4d"):
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telemetry.addData("cas b4d lancé","");
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telemetry.update();
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robot.forward(0.5);
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robot.rotate(-90.0);
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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telemetry.addData("fin de b4d","");
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telemetry.update();
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break;
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case ("b2d"):
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telemetry.addData("cas b2d lancé","");
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telemetry.update();
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robot.forward(0.5);
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robot.rotate(-90.0);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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telemetry.addData("fin de b2d","");
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telemetry.update();
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break;
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case ("r4d"):
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telemetry.addData("cas r4d lancé","");
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telemetry.update();
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robot.forward(0.5);
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robot.rotate(90.0);
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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telemetry.addData("fin de r4d","");
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telemetry.update();
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break;
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case ("r2d"):
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telemetry.addData("cas r2d lancé","");
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telemetry.update();
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robot.forward(0.5);
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robot.rotate(90.0);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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telemetry.addData("fin de r2d","");
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telemetry.update();
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break;
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case ("b4n"):
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break;
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case ("b2n"):
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break;
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case ("r4n"):
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break;
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case ("r2n"):
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break;
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default:
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break;
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}
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}
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}
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}
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