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GZod01 2024-04-05 17:36:22 +02:00
parent e3ee807eaf
commit fe41ddd424
11 changed files with 72 additions and 196 deletions
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14
create_all_files.py Normal file
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@ -0,0 +1,14 @@
import os
file_exists = (lambda p: (os.path.isfile(p) and os.path.exists(p)))
modes_list_str="b4d.b2d.r2d.r4d.r2n.r4n.b4n.b2n"
modes_list = modes_list_str.split(".")
for m in modes_list:
if not file_exists("ftc2024_auto_"+m.lower()+".java"):
f= open("ftc2024_auto_"+m.lower()+".java","w")
f.write("""
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_{0} extends Ftc2024_autonome_api{{
public AutoMode autonomous_mode = AutoMode.{1};
}}
""".format(m.lower(),m.upper()));

7
ftc2024_auto_b2d.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_b2d extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.B2D;
}

7
ftc2024_auto_b2n.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_b2n extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.B2N;
}

10
ftc2024_auto_b4d.java
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@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api; package org.firstinspires.ftc.teamcode;
public class ftc2024_auto_b4d extends Ftc2024_autonome_api{ import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_b4d extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.B4D; public AutoMode autonomous_mode = AutoMode.B4D;
} }

7
ftc2024_auto_b4n.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_b4n extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.B4N;
}

7
ftc2024_auto_r2d.java Normal file
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@ -0,0 +1,7 @@
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;
}

7
ftc2024_auto_r2n.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_r2n extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.R2N;
}

7
ftc2024_auto_r4d.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_r4d extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.R4D;
}

7
ftc2024_auto_r4n.java Normal file
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@ -0,0 +1,7 @@
package org.firstinspires.ftc.teamcode;
import org.firstinspires.ftc.teamcode.Ftc2024_autonome_api;
public class ftc2024_auto_r4n extends Ftc2024_autonome_api{
public AutoMode autonomous_mode = AutoMode.R4N;
}

190
ftc2024_autonome_api.java
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@ -1,190 +0,0 @@
package org.firstinspires.ftc.teamcode;
//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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;
@Autonomous
public class Ftc2024_autonome_api extends LinearOpMode {
public enum AutoMode{
B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
}
public AutoMode autonomous_mode;
public DcMotor lm;
public DcMotor rm;
public DcMotorEx lmelevator;
public DcMotorEx rmelevator;
public DcMotor harvestmotor;
public IMU imu;
public DcMotorEx rotation;
@Override
public void runOpMode() {
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
rm.setDirection(DcMotor.Direction.REVERSE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
imu = hardwareMap.get(IMU.class, "imu");
imu.initialize(
new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.UP,
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
imu.resetYaw();
YawPitchRollAngles robotOrientation;
FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
autonomous_mode = "b4d";
telemetry.addData("wait for start", "");
telemetry.update();
waitForStart();
telemetry.addData("started", "");
telemetry.update();
robotOrientation = imu.getRobotYawPitchRollAngles();
if (opModeIsActive()) {
/*
* autonomous_mode differents possibles values respect the next scheme:
* team_color_shortcode + start_line_index + direct_or_no
*
* team_color_shortcode = "b" for blue & "r" for red
* start_line_index = 4 or 2 see competition manual appendix B Tile location
* plan
* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest
* pixels before to go in deliver zone
*
* default is "b4d"
*/
switch (autonomous_mode) {
default:
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate((-90));
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r4d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(1.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("r2d"):
robot.boxElv();
robot.forward(0.5);
robot.rotate(90);
robot.forward(2.5);
robot.harvest(-1);
robot.backward(1);
robot.harvest(0);
break;
case ("b4n"):
robot.boxElv();
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;
case ("b2n"):
robot.boxElv();
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;
case ("r4n"):
robot.boxElv();
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;
case ("r2n"):
robot.boxElv();
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;
}
}
}
}

3
ftc_new.java
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@ -174,7 +174,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
/* /*
* définition de {@link t3} par utilisation de la fonction {@link helloexp} sur * définition de {@link t3} par utilisation de la fonction {@link helloexp} sur
* la norme du vecteur du joystick gauche du gamepad 1 (racine carrée de {@link * la norme du vecteur du joystick gauche du gamepad 1 (racine carrée de {@link
* x} au carré plus {@link y} au carré * x} au carré plus {@link y} au carré)
*/ */
t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2))); t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
@ -195,6 +195,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
double vmean; double vmean;
double a; double a;
double b; double b;
switch (mode) { switch (mode) {
case NORMAL: case NORMAL: