From c231b871bb006cc5e31d475b2eccc4a049bec554 Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sun, 4 Feb 2024 14:54:03 +0100
Subject: [PATCH] feat:ftc2024-autonome.java update autonomous mode 2

---
 ftc2024-autonome.java | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java
index e8a02fd..8123e9e 100644
--- a/ftc2024-autonome.java
+++ b/ftc2024-autonome.java
@@ -61,17 +61,24 @@ public class ftc2024_autonome extends LinearOpMode {
 		}
 		else {
 			double[][] operations = {
-				{3.0,-1.0,1.0}, // operation 1: 3 sec , lm=-1 , rm = 1
-				{5.0,1.0,1.0},
-				{2.0,-1.0,1.0},
-				{3.0,-1.0,-1.0},
-				{10.0,1.0,-1.0}
+				{-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 time = operations[i][0];
-				double lmvalue = operations[i][1];
-				double rmvalue = operations[i][2];
+				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, time);
+				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;
+				lmvalue = (a/vmean);
+				rmvalue = (b/vmean);
 				runtime.reset();
 				while (opModeIsActive() && (runtime.seconds() <= time)) {
 					lm.setPower(lmvalue);