werobot/ftc2024-robotcode
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rotation manuelle

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This commit is contained in:
Zelina974 2024-04-01 16:03:39 +02:00
parent cd6100f1f8
commit dc3cb8ccd2
1 changed files with 13 additions and 5 deletions
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18
ftc_new.java
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@ -317,26 +317,34 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
// activation rotation // activation rotation
if (manualMode){ if (manualMode){
gamepad1.setLedColor(255,100,50,10); gamepad1.setLedColor(255,100,50,10);
lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER); lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER); rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
if (gamepad1.dpad_up){ if (gamepad1.dpad_up){
rmelevator.setPower(0.3); rmelevator.setPower(0.3);
lmelevator.setPower(0.3); lmelevator.setPower(0.3);
} else if (gamepad1.dpad_down){ } else if (gamepad1.dpad_down){
lmelevator.setPower(-0.3); lmelevator.setPower(-0.3);
rmelevator.setPower(-0.3); rmelevator.setPower(-0.3);
} else { } else if (gamepad1.y){
double power = 0.3;
if (gamepad1.right_bumper){
power = -power;
}
rotation.setPower(power);
} else {
lmelevator.setPower(0); lmelevator.setPower(0);
rmelevator.setPower(0); rmelevator.setPower(0);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
} }
} }
else{ else{
gamepad1.setLedColor(0,0,255,10); gamepad1.setLedColor(0,0,255,10);
} }
if (!gamepad1.y && already_y && !manualMode) { if (!gamepad1.y && already_y && !manualMode) {
already_y = false; already_y = false;
@ -376,4 +384,4 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
telemetry.update(); telemetry.update();
} }
} }
} }