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mode "n" harvest tiles on field

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GZod01 2024-03-10 16:16:06 +01:00
parent da241c69d5
commit f07cbd1d2f
1 changed files with 63 additions and 12 deletions
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73
ftc2024_autonome_api.java
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@ -27,6 +27,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
public DcMotor rm; public DcMotor rm;
public DcMotor harvestmotor; public DcMotor harvestmotor;
public IMU imu; public IMU imu;
public YawPitchRollAngle robotOrientation;
@Override @Override
public void runOpMode() { public void runOpMode() {
@ -46,7 +47,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
) )
); );
imu.resetYaw(); imu.resetYaw();
YawPitchRollAngle robotOrientation; // FTC2024WeRobotControl à besoin de robotOrientation comme variable de Parent (donc de cette classe actuelle), n'est il pas posible de définir robotOrientation dans la classe // YawPitchRollAngle robotOrientation; // FTC2024WeRobotControl à besoin de robotOrientation comme variable de Parent (donc de cette classe actuelle), n'est il pas posible de définir robotOrientation dans la classe?
FTC2024WeRobotControl robot = FTC2024WeRobotControl(this); FTC2024WeRobotControl robot = FTC2024WeRobotControl(this);
waitForStart(); waitForStart();
@ -66,7 +67,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
switch (autonomous_mode){ switch (autonomous_mode){
default: default:
robot.forward(0.5); robot.forward(0.5);
robot.rotate(-90.0); robot.rotate((-90));
robot.forward(1.5); robot.forward(1.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
@ -74,7 +75,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
break; break;
case ("b2d"): case ("b2d"):
robot.forward(0.5); robot.forward(0.5);
robot.rotate(-90.0); robot.rotate((-90));
robot.forward(2.5); robot.forward(2.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
@ -82,7 +83,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
break; break;
case ("r4d"): case ("r4d"):
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90.0); robot.rotate(90);
robot.forward(1.5); robot.forward(1.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
@ -90,25 +91,75 @@ public class ftc2024_autonome_api extends LinearOpMode {
break; break;
case ("r2d"): case ("r2d"):
robot.forward(0.5); robot.forward(0.5);
robot.rotate(90.0); robot.rotate(90);
robot.forward(2.5); robot.forward(2.5);
robot.harvest(-1); robot.harvest(-1);
robot.backward(1); robot.backward(1);
robot.harvest(0); robot.harvest(0);
break; break;
case ("b4n"): case ("b4n"):
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break; break;
case ("b2n"): case ("b2n"):
robot.forward(1.5);
robot.rotate(90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(-90);
robot.forward(1);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break; break;
case ("r4n"): case ("r4n"):
robot.forward(1.5);
robot.rotate(-90);
robot.harvest();
robot.forward(3);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break; break;
case ("r2n"): case ("r2n"):
robot.forward(1.5);
break; robot.rotate(-90);
robot.harvest();
robot.forward(1);
robot.harvest(0);
robot.rotate(180);
robot.forward(1);
robot.rotate(90);
robot.forward(1);
robot.rotate(-90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
} }
} }
} }