From cfcbbd5fe231b43f179c2bcede4e9ef364ffef35 Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Fri, 5 Apr 2024 16:46:09 +0200
Subject: [PATCH] Update ftc2024_autonome_api.java

---
 ftc2024_autonome_api.java | 19 +++++++++++--------
 ftc_new.java              |  4 +++-
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java
index 2b3a3a5..8f932d9 100644
--- a/ftc2024_autonome_api.java
+++ b/ftc2024_autonome_api.java
@@ -22,7 +22,10 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 @Autonomous
 
 public class Ftc2024_autonome_api extends LinearOpMode {
-	public String autonomous_mode;
+	public enum AutoMode{
+		B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
+	}
+	public AutoMode autonomous_mode;
 	public DcMotor lm;
 	public DcMotor rm;
 	public DcMotor harvestmotor;
@@ -77,7 +80,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("b2d"):
+				case B2D:
 					robot.forward(0.5);
 					robot.rotate((-90));
 					robot.forward(2.5);
@@ -85,7 +88,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("r4d"):
+				case R4D:
 					robot.forward(0.5);
 					robot.rotate(90);
 					robot.forward(1.5);
@@ -93,7 +96,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("r2d"):
+				case R2D:
 					robot.forward(0.5);
 					robot.rotate(90);
 					robot.forward(2.5);
@@ -101,7 +104,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("b4n"):
+				case B4N:
 					robot.forward(1.5);
 					robot.rotate(90);
 					robot.harvest();
@@ -117,7 +120,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("b2n"):
+				case B2N:
 					robot.forward(1.5);
 					robot.rotate(90);
 					robot.harvest();
@@ -133,7 +136,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("r4n"):
+				case R4N:
 					robot.forward(1.5);
 					robot.rotate(-90);
 					robot.harvest();
@@ -149,7 +152,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
 					robot.backward(1);
 					robot.harvest(0);
 					break;
-				case ("r2n"):
+				case R2N:
 					robot.forward(1.5);
 					robot.rotate(-90);
 					robot.harvest();
diff --git a/ftc_new.java b/ftc_new.java
index 2e2a4ca..f707c90 100644
--- a/ftc_new.java
+++ b/ftc_new.java
@@ -370,6 +370,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
                 
                 rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
                 box.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+                telemetry.addData("mode","MANUEL");
                 // Elevator manual mode
                 if (gamepad1.dpad_up) {
                     // rmelevator.setPower(0.3);
@@ -406,6 +407,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
                     // lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
                     // rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
                     rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+                    
                 }
                 // Box manual mode
                 if (gamepad1.dpad_left) {
@@ -434,6 +436,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
 
             } else {
                 gamepad1.setLedColor(0.0, 0.0, 0.0,10);
+                telemetry.addData("mode","AUTOMATIQUE");
                 
                 if (!gamepad1.dpad_right && already_padright) {
                     already_padright = false;
@@ -539,7 +542,6 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
             telemetry.addData("ltrigg", t);
             telemetry.addData("t2", t2);
             telemetry.addData("rotation power", boxRot);
-            telemetry.addData("mode manuel", manualMode);
             telemetry.addData("Position elevateur l", lmelevator.getCurrentPosition());
             telemetry.addData("Position elevateur r", rmelevator.getCurrentPosition());
             telemetry.addData("Position rotation", rotation.getCurrentPosition());