Update ftc2024-carlike.java
This commit is contained in:
Zelina974
GitHub
parent
bcd667a383
commit
cdd50be8b9
1 changed files with 292 additions and 238 deletions
|
|
@ -55,7 +55,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
return (Math.exp(5 * t) - 1) / (Math.exp(5) - 1);
|
||||
}
|
||||
|
||||
private void tele(string name, string data) {
|
||||
private void tele(String name, String data) {
|
||||
telemetry.addData(name, data);
|
||||
telemetry.update();
|
||||
}
|
||||
|
|
@ -86,27 +86,27 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
|
||||
// le mode du robot
|
||||
|
||||
String mode = "normal";
|
||||
String mode = "elina";
|
||||
|
||||
// b est il déjà préssé?
|
||||
|
||||
boolean already_b = false;
|
||||
|
||||
// a est il déjà préssé?
|
||||
|
||||
boolean already_a = false;
|
||||
|
||||
// x est il déjà préssé?
|
||||
|
||||
boolean already_x = false;
|
||||
|
||||
boolean already_y = false;
|
||||
|
||||
boolean already_up = false;
|
||||
|
||||
boolean already_down = false;
|
||||
|
||||
boolean sinking = false;
|
||||
|
||||
telemetry.addData("Status", "Initialized");
|
||||
|
||||
telemetry.update();
|
||||
// telemetry.update();
|
||||
|
||||
lm = hardwareMap.get(DcMotor.class, "blm");
|
||||
|
||||
|
|
@ -119,6 +119,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
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);
|
||||
|
||||
|
|
@ -131,6 +132,13 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
|
||||
imu = hardwareMap.get(IMU.class, "imu");
|
||||
// rotation positions: 20° pos initiale par rapport au sol
|
||||
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
rotation.setVelocity(700, AngleUnit.DEGREES);
|
||||
rotation.setTargetPosition(40*288/360);
|
||||
|
||||
|
||||
|
||||
|
||||
imu.initialize(
|
||||
|
||||
|
|
@ -167,7 +175,12 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
* en attente du démarrage
|
||||
*/
|
||||
waitForStart();
|
||||
|
||||
while (opModeIsActive()){
|
||||
telemetry.addData("rotation target Pos", rotation.getTargetPosition());
|
||||
telemetry.addData("rotation Pos", rotation.getCurrentPosition());
|
||||
telemetry.addData("rotation velocity", rotation.getVelocity());
|
||||
telemetry.update();
|
||||
}
|
||||
/*
|
||||
* le robot a démarré, le tant que le robot est activé et donc qu'il n'a pas été
|
||||
* stoppé:
|
||||
|
|
@ -203,7 +216,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
/*
|
||||
* si le bouton a du gamepad 1 est appuyé et {already_a} est faux
|
||||
*/
|
||||
if (gamepad1.a && !already_a) {
|
||||
/*if (gamepad1.a && !already_a) {
|
||||
if (mode == "normal") {
|
||||
mode = "tank";
|
||||
} else if (mode == "tank") {
|
||||
|
|
@ -211,16 +224,16 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
} else if (mode == "essaifranck") {
|
||||
mode = "elina";
|
||||
} else {
|
||||
mode = "normal";
|
||||
mode = "elina";
|
||||
}
|
||||
already_a = true;
|
||||
}
|
||||
}*/
|
||||
if (!gamepad1.a && already_a) {
|
||||
already_a = false;
|
||||
}
|
||||
double lpower = 0.0;
|
||||
double rpower = 0.0;
|
||||
if (mode == "normal") {
|
||||
/*if (mode == "normal") {
|
||||
double ysign = y > 0 ? 1.0 : (y < 0 ? -1.0 : 0.0);
|
||||
double xsign = x > 0 ? 1.0 : (x < 0 ? -1.0 : 0.0);
|
||||
lpower = -ysign * t + (xsign - 2 * x) * t;
|
||||
|
|
@ -229,8 +242,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
} else if (mode == "tank") {
|
||||
lpower = -y;
|
||||
rpower = gamepad1.right_stick_y;
|
||||
tele("mode", "tank");
|
||||
} else if (mode == "essaifranck") {
|
||||
tele("mode", "tank");*/
|
||||
if (mode == "essaifranck") {
|
||||
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;
|
||||
|
|
@ -245,7 +258,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
rpower = (b / vmean) * t3;
|
||||
tele("mode", "Elina");
|
||||
}
|
||||
if (!(gamepad1.left_bumper)) {
|
||||
if (gamepad1.left_trigger>0.1) {
|
||||
lpower /= 3;
|
||||
rpower /= 3;
|
||||
}
|
||||
|
|
@ -267,27 +280,68 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
|
|||
if (!gamepad1.b && already_b) {
|
||||
already_b = false;
|
||||
}
|
||||
if ((gamepad1.dpad_up && !already_up)^(gamepad1.dpad_down && !already_down)){
|
||||
|
||||
if (sinking && Math.abs(lmelevator.getCurrentPosition()-90)<=5 && Math.abs(rmelevator.getCurrentPosition()-90)<=5){
|
||||
lmelevator.setVelocity(100);
|
||||
rmelevator.setVelocity(100);
|
||||
Long targetPosLong = (Long) Math.round(288*3.45);
|
||||
lmelevator.setTargetPosition(0);
|
||||
rmelevator.setTargetPosition(0);
|
||||
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
}
|
||||
if ((gamepad1.dpad_up && !already_up)^(gamepad1.dpad_down && !already_down)){
|
||||
lmelevator.setVelocity(600);
|
||||
rmelevator.setVelocity(600);
|
||||
Long targetPosLong = (Long) Math.round(288*3.4);
|
||||
int targetPos = targetPosLong.intValue();
|
||||
if (gamepad1.dpad_down){
|
||||
targetPos = 0;
|
||||
targetPos = 90;
|
||||
already_down = true;
|
||||
sinking = true;
|
||||
}else{
|
||||
already_up = true;
|
||||
sinking = false;
|
||||
}
|
||||
lmelevator.setTargetPosition(targetPos);
|
||||
rmelevator.setTargetPosition(targetPos);
|
||||
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
|
||||
}else if (!gamepad1.dpad_up && already_up){
|
||||
already_up = false;
|
||||
}else if (!gamepad1.dpad_down && already_down){
|
||||
already_down = false;
|
||||
}
|
||||
|
||||
if (gamepad1.x && !already_x){
|
||||
box.setVelocity(200);
|
||||
int targetPos = 0;
|
||||
if(gamepad1.right_bumper){
|
||||
targetPos = 0;
|
||||
}
|
||||
box.setTargetPosition(targetPos);
|
||||
box.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
already_x = !already_x;
|
||||
} else if(!gamepad1.x && already_x){
|
||||
already_x = false;
|
||||
}
|
||||
|
||||
if (gamepad1.y && already_y){
|
||||
rotation.setVelocity(450);
|
||||
int targetPos = 0;
|
||||
if (gamepad1.right_bumper){
|
||||
targetPos = 0;
|
||||
}else if (gamepad1.left_bumper){
|
||||
targetPos = 0;
|
||||
}
|
||||
rotation.setTargetPosition(targetPos);
|
||||
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
}
|
||||
|
||||
if (gamepad1.right_bumper && gamepad1.left_bumper){
|
||||
// launch the plane
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue