werobot/ftc2024-robotcode
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update

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This commit is contained in:
Zelina974 2024-04-06 11:56:53 +02:00
parent 1a4f84df92
commit caf88ca7a5
2 changed files with 34 additions and 8 deletions
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7
FTC2024WeRobotControl.java
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@ -68,10 +68,13 @@ public class FTC2024WeRobotControl {
public void boxElv(){
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.lmelevator.setTargetPosition(90);
Parent.rmelevator.setTargetPosition(90);
Parent.rotation.setVelocity(600);
Parent.lmelevator.setTargetPosition(50);
Parent.rmelevator.setTargetPosition(50);
Parent.rotation.setTargetPosition(30);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void posBasse(){

33
ftc2024_autonome_api.java
View file

@ -37,12 +37,19 @@ public class Ftc2024_autonome_api extends LinearOpMode {
@Override
public void runOpMode() {
boolean auto = false;
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
rmelevator.setDirection(DcMotor.Direction.REVERSE);
rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rm.setDirection(DcMotor.Direction.REVERSE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@ -68,6 +75,12 @@ public class Ftc2024_autonome_api extends LinearOpMode {
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
while (opModeIsActive()) {
if (gamepad1.a && !auto){
auto = true;
break;
}
}
if (opModeIsActive()){
/*
* autonomous_mode differents possibles values respect the next scheme:
@ -81,11 +94,15 @@ public class Ftc2024_autonome_api extends LinearOpMode {
*
* default is "b4d"
*/
switch (autonomous_mode) {
default:
robot.boxElv();
robot.harvest(1);
robot.forward(2);
robot.harvest(0);
robot.rotate((-90));
robot.posBasse();
robot.forward(3.5);
robot.harvest(-1);
robot.backward(0.5);
@ -93,18 +110,21 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.forward(0.5);
break;
case B2D:
robot.boxElv();
robot.posBasse();
robot.harvest(1);
robot.forward(0.5);
robot.rotate((-90));
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
robot.forward(1);
robot.harvest(-1);
robot.backward(0.5);
robot.harvest(0);
robot.forward(0.5);
break;
case R4D:
robot.boxElv();
robot.harvest(1);
robot.forward(2);
robot.harvest(0);
robot.rotate(90);
robot.posBasse();
robot.forward(3.5);
@ -115,8 +135,11 @@ public class Ftc2024_autonome_api extends LinearOpMode {
break;
case R2D:
robot.boxElv();
robot.harvest(1);
robot.forward(0.5);
robot.harvest(0);
robot.rotate(90);
robot.posBasse();
robot.forward(1.5);
robot.harvest(-1);
robot.backward(0.5);