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helloworld XD (when someone who is not Zelina make a commit...)

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Zelina974 2024-04-06 14:17:08 +02:00
parent 95cb879f7b
commit eff1e655fe
4 changed files with 125 additions and 107 deletions
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76
ftc2024_autonome_api.java
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@ -19,28 +19,29 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcode.hardware.HardwareMap;
@Autonomous
public class Ftc2024_autonome_api extends LinearOpMode {
public enum AutoMode{
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
public class Ftc2024_autonome_api{
public enum AutoMode {
B2D, B4D, B2N, B4N, R2D, R4D, R2N, R4N
}
public HardwareMap hardwareMap;
public AutoMode autonomous_mode;
public DcMotor lm;
public DcMotor rm;
public DcMotorEx lm;
public DcMotorEx rm;
public DcMotorEx lmelevator;
public DcMotorEx rmelevator;
public DcMotor harvestmotor;
public IMU imu;
public DcMotorEx rotation;
@Override
public void runOpMode() {
boolean auto = false;
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
boolean auto = false;
lm = hardwareMap.get(DcMotorEx.class, "blm");
rm = hardwareMap.get(DcMotorEx.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
@ -63,25 +64,24 @@ public class Ftc2024_autonome_api extends LinearOpMode {
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = AutoMode.B4D;
telemetry.addData("wait for start", "");
telemetry.update();
waitForStart();
telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
while (opModeInInit()){
imu.resetYaw();
telemetry.addData("wait", "for start");
telemetry.addData("Yaw", imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
telemetry.update();
}
while (opModeIsActive()) {
if (gamepad1.a && !auto){
if (gamepad1.a && !auto) {
auto = true;
break;
}
}
if (opModeIsActive()){
if (opModeIsActive()) {
/*
* autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no
@ -94,7 +94,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
*
* default is "b4d"
*/
switch (autonomous_mode) {
default:
robot.boxElv();
@ -103,6 +103,10 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0);
robot.rotate((-90));
robot.posBasse();
while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) {
telemetry.addData("pos", rotation.getCurrentPosition());
telemetry.update();
}
robot.forward(3.5);
robot.harvest(-1);
robot.backward(0.5);
@ -110,7 +114,14 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.forward(0.5);
break;
case B2D:
imu.resetYaw();
robot.posBasse();
while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) {
telemetry.addData("pos", rotation.getCurrentPosition());
telemetry.addData("Yaw", imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
telemetry.update();
}
robot.harvest(1);
robot.forward(0.5);
robot.harvest(0);
@ -127,6 +138,10 @@ public class Ftc2024_autonome_api extends LinearOpMode {
robot.harvest(0);
robot.rotate(90);
robot.posBasse();
while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) {
telemetry.addData("pos", rotation.getCurrentPosition());
telemetry.update();
}
robot.forward(3.5);
robot.harvest(-1);
robot.backward(0.5);
@ -135,16 +150,21 @@ public class Ftc2024_autonome_api extends LinearOpMode {
break;
case R2D:
robot.boxElv();
robot.harvest(1);
robot.forward(0.5);
robot.harvest(0);
//rebuild
//robot.harvest(1);
robot.forward(1.5);
//robot.harvest(0);
robot.rotate(90);
robot.posBasse();
while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) {
telemetry.addData("pos", rotation.getCurrentPosition());
telemetry.update();
}
robot.forward(1.5);
robot.harvest(-1);
robot.backward(0.5);
robot.harvest(0);
robot.forward(0.5);
//robot.harvest(-1);
//robot.backward(0.5);
//robot.harvest(0);
//robot.forward(0.5);
break;
case B4N:
robot.boxElv();