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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84
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);
@ -98,50 +99,50 @@ public class ftc2024_autonome extends LinearOpMode {
} }
} }
else{ else{
while(opModeIsActive()){ while(opModeIsActive()){
Yaw = robotOrientation.getYaw(AngleUnit.DEGREES); Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
if(Math.abs(Yaw-90.0)<=0.01){ if(Math.abs(Yaw-90.0)<=0.01){
break; break;
} }
else if((Yaw - 90.0) <0){ else if((Yaw - 90.0) <0){
lm.setPower((Math.abs(Yaw-90.0)/90)*0.5); lm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
rm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5); rm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
} }
else{ else{
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
{1.0,1.0}, {1.0,1.0},
{-1.0,1.0}, {-1.0,1.0},
{-1.0,-1.0}, {-1.0,-1.0},
{1.0,-1.0} {1.0,-1.0}
}; };
//mode Aurelien //mode Aurelien
for(int i = 0; i<operations.length; i++){ for(int i = 0; i<operations.length; i++){
double[] vec = operations[i]; double[] vec = operations[i];
double x = vec[0]; double x = vec[0];
double y = vec[1]; double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2)); double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, total_dist); double time = time_for_dist(speed, total_dist);
double a = (-y+x)/Math.pow(2,1/2); double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2); double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2; double vmean = (Math.abs(a)+Math.abs(b))/2;
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)) {
lm.setPower(lmvalue); while (opModeIsActive() && (runtime.seconds() <= time)) {
rm.setPower(rmvalue); lm.setPower(lmvalue);
telemetry.addData("Runtime Seconds", runtime.seconds()); rm.setPower(rmvalue);
telemetry.addData("current_operation",operations[i]); telemetry.addData("Runtime Seconds", runtime.seconds());
telemetry.addData("current_op_id",i); telemetry.addData("current_operation",operations[i]);
telemetry.addData("current_op_id",i);
telemetry.update();
telemetry.update();
} }
} }
} }
@ -156,5 +157,6 @@ public class ftc2024_autonome extends LinearOpMode {
} }
}
} }