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

helloworld

Browse source
This commit is contained in:
GZod01 2024-02-04 14:42:33 +01:00
parent 41edfe3e75
commit c33b2d5ca0
1 changed files with 48 additions and 43 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

91
ftc2024-autonome.java
View file

@ -25,54 +25,59 @@ public class ftc2024_autonome extends LinearOpMode {
public void runOpMode() { public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotor.class, "brm");
rm.setDirection(DcMotorSimple.Direction.REVERSE); rm.setDirection(DcMotorSimple.Direction.REVERSE);
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.update(); 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) // Wait for the game to start (driver presses PLAY)
waitForStart(); waitForStart();
runtime.reset(); runtime.reset();
if (mode){ if (mode){
//mode Elina //mode Elina
while (opModeIsActive() && (runtime.seconds() <= 3.0)) { while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
lm.setPower(1); lm.setPower(1);
rm.setPower(-1); rm.setPower(-1);
telemetry.addData("Leg 1", runtime.seconds()); telemetry.addData("Leg 1", runtime.seconds());
telemetry.update(); telemetry.update();
} }
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 10.0)) { while (opModeIsActive() && (runtime.seconds() <= 10.0)) {
lm.setPower(1); lm.setPower(1);
rm.setPower(1); rm.setPower(1);
telemetry.addData("Leg 2", runtime.seconds()); telemetry.addData("Leg 2", runtime.seconds());
telemetry.update(); telemetry.update();
} }
} }
else { else {
double[][] operations = { double[][] operations = {
{3.0,-1.0,1.0}, // operation 1: 3 sec , lm=-1 , rm = 1 {3.0,-1.0,1.0}, // operation 1: 3 sec , lm=-1 , rm = 1
{5.0,1.0,1.0}, {5.0,1.0,1.0},
{2.0,-1.0,1.0}, {2.0,-1.0,1.0},
{3.0,-1.0,-1.0}, {3.0,-1.0,-1.0},
{10.0,1.0,-1.0} {10.0,1.0,-1.0}
}; };
//mode Aurelien //mode Aurelien
for(int i = 0; i<operations.length; i++){ for(int i = 0; i<operations.length; i++){
double time = operations[i][0]; double time = operations[i][0];
double lmvalue = operations[i][1]; double lmvalue = operations[i][1];
double rmvalue = operations[i][2]; double rmvalue = operations[i][2];
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) { while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue); lm.setPower(lmvalue);
rm.setPower(rmvalue); rm.setPower(rmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds()); telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_operation",operations[i]); telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i); telemetry.addData("current_op_id",i);
telemetry.update(); telemetry.update();
} }
} }
} }
// run until the end of the match (driver presses STOP // run until the end of the match (driver presses STOP
} }