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

updates

Browse source
This commit is contained in:
Zelina974 2024-02-11 15:48:03 +01:00
parent 079817e180
commit a9129baf8d
1 changed files with 108 additions and 72 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

178
ftc2024-autonome.java
View file

@ -13,86 +13,122 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@Autonomous
public class ftc2024_autonome extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
private ElapsedTime runtime = new ElapsedTime();
private DcMotor rm;
private DcMotor lm;
private IMU imu;
private ElapsedTime runtime = new ElapsedTime();
public double time_for_dist(double speed, double dist){
return (double) (dist/speed);
}
public double time_for_dist(double speed, double dist){
return (double) (dist/speed);
}
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
double tour_par_minute = 300.0;
double wheel_width = 9.0e-2;
double wheel_rayon = (wheel_width)/2;
double wheel_perimeter = wheel_rayon*2*Math.PI;
double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
boolean mode = true;
// Wait for the game to start (driver presses PLAY)
waitForStart();
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
else {
double[][] operations = {
{-1.0,1.0}, // vectors
{1.0,1.0},
{-1.0,1.0},
{-1.0,-1.0},
{1.0,-1.0}
};
//mode Aurelien
for(int i = 0; i<operations.length; i++){
double[] vec = operations[i];
double x = vec[0];
double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, total_dist);
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
double lmvalue = (a/vmean);
double rmvalue = (b/vmean);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue);
rm.setPower(rmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i);
telemetry.update();
}
}
}
// run until the end of the match (driver presses STOP
imu = hardwareMap.get(IMU.class, "imu");
imu.initialize(
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
)
)
);
imu.resetYaw();
}
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
double tour_par_minute = 300.0;
double wheel_width = 9.0e-2;
double wheel_rayon = (wheel_width)/2;
double wheel_perimeter = wheel_rayon*2*Math.PI;
double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
boolean mode = true;
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= Yaw != 90)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
else {
double[][] operations = {
{-1.0,1.0}, // vectors
{1.0,1.0},
{-1.0,1.0},
{-1.0,-1.0},
{1.0,-1.0}
};
//mode Aurelien
for(int i = 0; i<operations.length; i++){
double[] vec = operations[i];
double x = vec[0];
double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, total_dist);
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
double lmvalue = (a/vmean);
double rmvalue = (b/vmean);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue);
rm.setPower(rmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i);
telemetry.update();
}
}
}
YawPitchRollAngles robotOrientation;
robotOrientation = imu.getRobotYawPitchRollAngles();
// Now use these simple methods to extract each angle
// (Java type double) from the object you just created:
double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
double Roll = robotOrientation.getRoll(AngleUnit.DEGREES);
telemetry.addData("yaw",Yaw);
telemetry.update();
// run until the end of the match (driver presses STOP
}
}