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GZod01 2024-02-04 14:42:33 +01:00
parent 41edfe3e75
commit c33b2d5ca0
1 changed files with 48 additions and 43 deletions
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91
ftc2024-autonome.java
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@ -25,54 +25,59 @@ public class ftc2024_autonome extends LinearOpMode {
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
rm.setDirection(DcMotorSimple.Direction.REVERSE);
rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized");
telemetry.update();
boolean mode = false;
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 = false;
// Wait for the game to start (driver presses PLAY)
waitForStart();
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 10.0)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
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}
};
//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];
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();
}
}
}
runtime.reset();
if (mode){
//mode Elina
while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
lm.setPower(1);
rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds());
telemetry.update();
}
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 10.0)) {
lm.setPower(1);
rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds());
telemetry.update();
}
}
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}
};
//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];
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
}