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Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode

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This commit is contained in:
GZod01 2024-04-06 14:48:10 +02:00
commit f87d734437
4 changed files with 125 additions and 107 deletions
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132
FTC2024WeRobotControl.java
View file

@ -38,7 +38,7 @@ public class FTC2024WeRobotControl {
* the width size of the tiles on the ground in metres
*/
private final double ground_tiles_width = 61.0e-2; // metres
//
//
private final double defaultspeed = 0.6;
private ElapsedTime timer;
@ -54,8 +54,8 @@ public class FTC2024WeRobotControl {
*/
public FTC2024WeRobotControl(Ftc2024_autonome_api Parent) {
this.Parent = Parent;
this.timer = new ElapsedTime();
this.Parent = Parent;
this.timer = new ElapsedTime();
}
/*
@ -64,42 +64,29 @@ public class FTC2024WeRobotControl {
* @param motor_speed = (optional) double between 0 and 1; motor power; default
* to 1
*/
public void boxElv(){
public void boxElv() {
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.lmelevator.setTargetPosition(90);
Parent.rmelevator.setTargetPosition(90);
Parent.rotation.setVelocity(600);
Parent.lmelevator.setTargetPosition(50);
Parent.rmelevator.setTargetPosition(50);
Parent.rotation.setTargetPosition(30);
Parent.rotation.setTargetPosition(20);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void boxElv() {
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.lmelevator.setTargetPosition(90);
Parent.rmelevator.setTargetPosition(90);
Parent.rotation.setVelocity(600);
Parent.rotation.setTargetPosition(-50);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void posBasse(){
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.rotation.setVelocity(600);
Parent.lmelevator.setTargetPosition(0);
Parent.rmelevator.setTargetPosition(0);
Parent.rotation.setTargetPosition(800);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
public void posBasse() {
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.rotation.setVelocity(600);
Parent.lmelevator.setTargetPosition(0);
Parent.rmelevator.setTargetPosition(0);
Parent.rotation.setTargetPosition(800);
Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
/*
@ -110,12 +97,11 @@ public class FTC2024WeRobotControl {
*/
public double getSpeedFromMotorSpeed(double motor_speed) {
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
return speed;
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
return speed;
}
/*
* return the needed time for a distance
*
@ -125,8 +111,8 @@ public class FTC2024WeRobotControl {
* to 1
*/
public double time_for_dist(double dist, double motor_speed) {
double speed = getSpeedFromMotorSpeed(motor_speed);
return (dist / speed);
double speed = getSpeedFromMotorSpeed(motor_speed);
return (dist / speed);
}
/*
@ -139,14 +125,14 @@ public class FTC2024WeRobotControl {
* to 1
*/
public void forward(double n_tiles, double motor_speed) {
double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
timer.reset();
while (Parent.opModeIsActive() && timer.seconds() < total_time) {
Parent.lm.setPower(motor_speed);
Parent.rm.setPower(motor_speed);
}
Parent.lm.setPower(0);
Parent.rm.setPower(0);
double total_time = time_for_dist(n_tiles * ground_tiles_width, Math.abs(motor_speed));
timer.reset();
while (Parent.opModeIsActive() && timer.seconds() < total_time) {
Parent.lm.setPower(motor_speed);
Parent.rm.setPower(motor_speed);
}
Parent.lm.setPower(0);
Parent.rm.setPower(0);
}
/*
@ -156,7 +142,7 @@ public class FTC2024WeRobotControl {
* @param n_tiles number of tiles
*/
public void forward(double n_tiles) {
this.forward(n_tiles, this.defaultspeed);
this.forward(n_tiles, this.defaultspeed);
}
/*
@ -169,11 +155,11 @@ public class FTC2024WeRobotControl {
* to 1
*/
public void backward(double n_tiles, double motor_speed) {
forward(n_tiles, -motor_speed);
forward(n_tiles, -motor_speed);
}
public void backward(double n_tiles) {
this.backward(n_tiles, this.defaultspeed);
this.backward(n_tiles, this.defaultspeed);
}
/*
@ -183,11 +169,11 @@ public class FTC2024WeRobotControl {
* to 1
*/
public void harvest(double motor_speed) {
Parent.harvestmotor.setPower(motor_speed);
Parent.harvestmotor.setPower(motor_speed);
}
public void harvest() {
this.harvest(1.0);
this.harvest(1.0);
}
/*
@ -199,32 +185,32 @@ public class FTC2024WeRobotControl {
* to 1
*/
public void rotate(double angle, double motor_speed) {
robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double anglerad = Math.toRadians(angle);
angle = Math.toDegrees(Math.atan2(Math.sin(anglerad), Math.cos(anglerad)));
double left_multiplier = -((double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed;
if (Math.abs(angle) == 180) {
angle = (double) (((double) Math.signum(angle)) * 179.9);
}
while (Parent.opModeIsActive()
&& (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))) {
robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
Parent.telemetry.addData("Yaw", yaw);
Parent.telemetry.update();
m_power = (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw));// relative
Parent.lm.setPower(left_multiplier * m_power);
Parent.rm.setPower(right_multiplier * m_power);
}
Parent.lm.setPower(0);
Parent.rm.setPower(0);
robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
double anglerad = Math.toRadians(angle);
angle = Math.toDegrees(Math.atan2(Math.sin(anglerad), Math.cos(anglerad)));
double left_multiplier = -((double) Math.signum(angle));
double right_multiplier = ((double) Math.signum(angle));
double m_power = motor_speed;
if (Math.abs(angle) == 180) {
angle = (double) (((double) Math.signum(angle)) * 179.9);
}
while (Parent.opModeIsActive()
&& (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))) {
robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
Parent.telemetry.addData("Yaw", yaw);
Parent.telemetry.update();
m_power = (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw));// relative
Parent.lm.setPower(left_multiplier * m_power);
Parent.rm.setPower(right_multiplier * m_power);
}
Parent.lm.setPower(0);
Parent.rm.setPower(0);
}
public void rotate(double angle) {
this.rotate(angle, this.defaultspeed);
this.rotate(angle, this.defaultspeed);
}
}

21
ftc2024_auto_r2d.java
View file

@ -1,7 +1,18 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_r2d extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.R2D;
}
@Autonomous
public class ftc2024_auto_r2d extends LinearOpMode{
//hi
public Ftc2024_autonome_api.AutoMode autonomous_mode = Ftc2024_autonome_api.AutoMode.R2D;
@Override
public void runOpMode() {
Ftc2024_autonome_api a = new Ftc2024_autonome_api();
a.hardwareMap = this.hardwareMap;
a.runOpMode();
}
}

76
ftc2024_autonome_api.java
View file

@ -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(1);
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();

3
ftc_new.java
View file

@ -181,6 +181,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
telemetry.addData("Status", "Running");
telemetry.addData("mode", mode);
if (gamepad1.right_bumper && gamepad1.left_bumper){
@ -556,7 +557,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
//telemetry.addData("Position rotation", rotation.getCurrentPosition());
//telemetry.addData("Position box", box.getCurrentPosition());
//telemetry.addData("box velocity", rotation.getVelocity());
//telemetry.update();
telemetry.update();
}
}