werobot/ftc2024-robotcode
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add moissoneuse

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Zelina974 2024-02-04 15:55:21 +01:00
parent b62cd2ca93
commit f8e27b675b
1 changed files with 15 additions and 0 deletions
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15
ftc2024-carlike.java
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@ -26,6 +26,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
public class Werobot_FTC2024_carlike extends LinearOpMode { public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm; private DcMotor rm;
private DcMotor lm; private DcMotor lm;
private DcMotor moissoneuse;
private IMU imu; private IMU imu;
private double helloexp(double t){ private double helloexp(double t){
return (Math.exp(5*t)-1)/(Math.exp(5)-1); return (Math.exp(5*t)-1)/(Math.exp(5)-1);
@ -41,6 +42,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
boolean already_a = false; boolean already_a = false;
telemetry.addData("Status", "Initialized"); telemetry.addData("Status", "Initialized");
telemetry.update(); telemetry.update();
boolean already_b = false;
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotor.class, "brm");
@ -127,6 +129,19 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
lm.setPower(lpower); lm.setPower(lpower);
rm.setPower(rpower); rm.setPower(rpower);
if(gamepad1.b && !already_b){
already_b=!already_b;
if(moissoneuse.getPower == 0){
moissoneuse.setPower(1);
}else{
moissoneuse.setPower(0);
}
}
if(!gamepad1.b && already_b){
already_b=!already_b;
}
telemetry.addData("x",x); telemetry.addData("x",x);
telemetry.addData("y",y); telemetry.addData("y",y);
telemetry.addData("lpow",lpower); telemetry.addData("lpow",lpower);