werobot/ftc2024-robotcode
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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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20
FTC2024WeRobotControl.java
View file

@ -65,32 +65,19 @@ public class FTC2024WeRobotControl {
* to 1
*/
public void boxElv(){
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.rotation.setVelocity(600);
Parent.lmelevator.setTargetPosition(50);
Parent.rmelevator.setTargetPosition(50);
Parent.rotation.setTargetPosition(30);
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.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 posBasse(){
public void posBasse() {
Parent.lmelevator.setVelocity(600);
Parent.rmelevator.setVelocity(600);
Parent.rotation.setVelocity(600);
@ -115,7 +102,6 @@ public class FTC2024WeRobotControl {
return speed;
}
/*
* return the needed time for a distance
*
@ -139,7 +125,7 @@ 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);
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);

19
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();
}
}

66
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");
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", "");
while (opModeInInit()){
imu.resetYaw();
telemetry.addData("wait", "for start");
telemetry.addData("Yaw", imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
}
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
@ -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();
}
}