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autonometest

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GZod01 2024-05-12 15:54:51 +02:00
parent 66925dc7e0
commit eed163266b
1 changed files with 20 additions and 6 deletions
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24
AutonomeTest.java
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@ -34,13 +34,14 @@ public class AutonomeTest extends LinearOpMode {
droit.setDirection(DcMotorSimple.Direction.REVERSE); droit.setDirection(DcMotorSimple.Direction.REVERSE);
droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
moissonneuse = hardwareMap.get(DcMotor.class,"msn");
waitForStart(); waitForStart();
boiteG.setTargetPosition(90); boiteG.setTargetPosition(90);
boiteD.setTargetPosition(90); boiteD.setTargetPosition(90);
while (boiteG.getCurrentPosition()<boiteG.getTargetPosition()){ while (opModeIsActive() && boiteG.getCurrentPosition()<boiteG.getTargetPosition()){
boiteD.setVelocity(100); boiteD.setVelocity(100);
boiteD.setMode(DcMotor.RunMode.RUN_TO_POSITION); boiteD.setMode(DcMotor.RunMode.RUN_TO_POSITION);
boiteG.setVelocity(100); boiteG.setVelocity(100);
@ -49,10 +50,10 @@ public class AutonomeTest extends LinearOpMode {
telemetry.addData("position elv gauche", boiteG.getCurrentPosition()); telemetry.addData("position elv gauche", boiteG.getCurrentPosition());
telemetry.update(); telemetry.update();
} }
gauche.setTargetPosition(700); gauche.setTargetPosition(700*3);
droit.setTargetPosition(700); droit.setTargetPosition(700*3);
while (gauche.getCurrentPosition()<gauche.getTargetPosition()){ while (opModeIsActive() && gauche.getCurrentPosition()<gauche.getTargetPosition()){
gauche.setVelocity(250); gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION); gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250); droit.setVelocity(250);
@ -63,12 +64,25 @@ public class AutonomeTest extends LinearOpMode {
gauche.setTargetPosition(165); gauche.setTargetPosition(165);
droit.setTargetPosition(1235); droit.setTargetPosition(1235);
while (gauche.getCurrentPosition()>gauche.getTargetPosition()){ while (opModeIsActive() && gauche.getCurrentPosition()>gauche.getTargetPosition()){
gauche.setVelocity(250); gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION); gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250); droit.setVelocity(250);
droit.setMode(DcMotor.RunMode.RUN_TO_POSITION); droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} }
gauche.setTargetPosition(700*3);
droit.setTargetPosition(700*3);
while (opModeIsActive() && gauche.getCurrentPosition()<gauche.getTargetPosition()){
moissonneuse.setPower(1);
gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250);
droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
moissonneuse.setPower(0);
gauche.setVelocity(0);
droit.setVelocity(0);
} }
} }