werobot/ftc2024-robotcode
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fix

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This commit is contained in:
Zelina974 2024-02-26 16:06:04 +01:00
parent df33d5290c
commit da49742d7c
1 changed files with 5 additions and 5 deletions
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10
test.java
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@ -30,7 +30,7 @@ public class ftc2024_autonome_test extends LinearOpMode {
lm = hardwareMap.get (DcMotor.class, "lm"); lm = hardwareMap.get (DcMotor.class, "lm");
rm = hardwareMap.get (DcMotor.class, "rm"); rm = hardwareMap.get (DcMotor.class, "rm");
rm.setDirection(DcMotorSimple.Direction.REVERSE); rm.setDirection(DcMotor.Direction.REVERSE);
imu = hardwareMap.get(IMU.class, "imu"); imu = hardwareMap.get(IMU.class, "imu");
imu.initialize( imu.initialize(
@ -42,10 +42,10 @@ public class ftc2024_autonome_test extends LinearOpMode {
) )
); );
imu.resetYaw(); imu.resetYaw();
YawPitchRollAngles robotOrientation; YawPitchRollAngles robotOrientation;
robotOrientation = imu.getRobotYawPitchRollAngles();
double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double yaw_sortie; double yaw_sortie = 0.0;
waitForStart(); waitForStart();
@ -55,8 +55,8 @@ public class ftc2024_autonome_test extends LinearOpMode {
double [] x = new double[lm_p.length]; double [] x = new double[lm_p.length];
for(int i = 0; i< lm_p.length; i++){ for(int i = 0; i< lm_p.length; i++){
while (opModeIsActive() && Yaw < 90){ while (opModeIsActive() && Yaw < 90){
lm.setPower = lm_p[i]; lm.setPower(lm_p[i]);
rm.setPower = rm_p[i]; rm.setPower(rm_p[i]);
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
telemetry.addData("Yaw : ", Yaw); telemetry.addData("Yaw : ", Yaw);
telemetry.update(); telemetry.update();