werobot/ftc2024-robotcode
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fixe errors

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This commit is contained in:
Zelina974 2024-02-25 16:06:12 +01:00
parent 2605535899
commit ff8e4bf295
1 changed files with 43 additions and 41 deletions
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8
ftc2024-autonome.java
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@ -17,6 +17,7 @@ import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles; import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot; import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder; import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference; import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
@ -88,7 +89,7 @@ public class ftc2024_autonome extends LinearOpMode {
telemetry.update(); telemetry.update();
yaw_sortie = Yaw; yaw_sortie = Yaw;
} }
telemetry.addData("yaw_sortie", yaw_sortie) telemetry.addData("yaw_sortie", yaw_sortie);
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) { while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
lm.setPower(0.1); lm.setPower(0.1);
@ -111,7 +112,7 @@ public class ftc2024_autonome extends LinearOpMode {
rm.setPower((Math.abs(Yaw-90.0)/90)*0.5); rm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
lm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5); lm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
} }
}
if(false){ if(false){
double[][] operations = { double[][] operations = {
{-1.0,1.0}, // vectors {-1.0,1.0}, // vectors
@ -133,6 +134,7 @@ public class ftc2024_autonome extends LinearOpMode {
double lmvalue = (a/vmean); double lmvalue = (a/vmean);
double rmvalue = (b/vmean); double rmvalue = (b/vmean);
runtime.reset(); runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) { while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue); lm.setPower(lmvalue);
rm.setPower(rmvalue); rm.setPower(rmvalue);
@ -140,7 +142,6 @@ public class ftc2024_autonome extends LinearOpMode {
telemetry.addData("current_operation",operations[i]); telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i); telemetry.addData("current_op_id",i);
telemetry.update(); telemetry.update();
} }
} }
@ -157,4 +158,5 @@ public class ftc2024_autonome extends LinearOpMode {
} }
} }
}