diff --git a/AutonomeTest.java b/AutonomeTest.java deleted file mode 100644 index 49687ba..0000000 --- a/AutonomeTest.java +++ /dev/null @@ -1,91 +0,0 @@ -package org.firstinspires.ftc.teamcode; - -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.hardware.DcMotorEx; -import com.qualcomm.robotcore.hardware.DcMotorSimple; -import com.qualcomm.robotcore.hardware.DcMotor; -import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; -import org.firstinspires.ftc.robotcore.external.navigation.Position; -import org.firstinspires.ftc.robotcore.external.navigation.Velocity; -import com.qualcomm.robotcore.util.ElapsedTime; - -@Autonomous - -public class AutonomeTest extends LinearOpMode { - private DcMotorEx droit; - private DcMotorEx gauche; - private DcMotorEx boiteG; - private DcMotorEx boiteD; - private ElapsedTime runtime = new ElapsedTime(); - private DcMotor moissonneuse; - - @Override - public void runOpMode(){ - boiteD = hardwareMap.get(DcMotorEx.class, "rtrselv"); - boiteD.setDirection(DcMotorSimple.Direction.REVERSE); - boiteD.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); - boiteD.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); - boiteG = hardwareMap.get(DcMotorEx.class, "ltrselv"); - boiteG.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); - boiteG.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); - gauche = hardwareMap.get(DcMotorEx.class, "blm"); - gauche.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); - gauche.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); - droit = hardwareMap.get(DcMotorEx.class, "brm"); - droit.setDirection(DcMotorSimple.Direction.REVERSE); - droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER); - droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT); - moissonneuse = hardwareMap.get(DcMotor.class,"moissonneuse"); - - - waitForStart(); - - boiteG.setTargetPosition(90); - boiteD.setTargetPosition(90); - while (opModeIsActive() && boiteG.getCurrentPosition()droit.getTargetPosition()){ - gauche.setVelocity(250); - gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION); - droit.setVelocity(250); - droit.setMode(DcMotor.RunMode.RUN_TO_POSITION); - } - gauche.setVelocity(0); - droit.setVelocity(0); - gauche.setTargetPosition(700*3); - droit.setTargetPosition(700*3); - - while (opModeIsActive() && gauche.getCurrentPosition()0.8){ - lpower = 1*Math.signum(x); - rpower = -lpower; - } - - lpower = lpower*gamepad1.left_trigger; - rpower = lpower*gamepad1.left_trigger; - - rm.setPower(rpower); - lm.setPower(lpower); - telemetry.update(); - } - } -} diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java index 3403386..ab4faef 100644 --- a/ftc2024_autonome_api.java +++ b/ftc2024_autonome_api.java @@ -100,7 +100,7 @@ public class Ftc2024_autonome_api{ robot.boxElv(); robot.harvest(1); robot.forward(2); - /*robot.harvest(0); + robot.harvest(0); robot.rotate((-90)); robot.posBasse(); while (opModeIsActive() && rotation.getCurrentPosition() < rotation.getTargetPosition()) { @@ -111,7 +111,7 @@ public class Ftc2024_autonome_api{ robot.harvest(-1); robot.backward(0.5); robot.harvest(0); - robot.forward(0.5);*/ + robot.forward(0.5); break; case B2D: imu.resetYaw(); @@ -123,13 +123,13 @@ public class Ftc2024_autonome_api{ telemetry.update(); } robot.harvest(1); - robot.forward(1); + robot.forward(0.5); robot.harvest(0); - /* robot.forward(1); + robot.forward(1); robot.harvest(-1); robot.backward(0.5); robot.harvest(0); - robot.forward(0.5);*/ + robot.forward(0.5); break; case R4D: robot.boxElv(); diff --git a/hello.99.java b/hello.99.java deleted file mode 100644 index 5eb81b5..0000000 --- a/hello.99.java +++ /dev/null @@ -1 +0,0 @@ -package tld.domain.truc;import tld.domain.autre_truc;public class hello_999{public void main(){System.out.println("helloworld");}} diff --git a/lastmatch.java b/lastmatch.java deleted file mode 100644 index 1f7e171..0000000 --- a/lastmatch.java +++ /dev/null @@ -1,148 +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.eventloop.opmode.OpMode; -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 lastmatch extends LinearOpMode { - - public DcMotorEx lm; - public DcMotorEx rm; - public DcMotorEx lmelevator; - public DcMotorEx rmelevator; - public DcMotor harvestmotor; - public IMU imu; - public DcMotorEx rotation; - private ElapsedTime timer; - - - @Override - public void runOpMode() { - timer = new ElapsedTime(); - boolean auto = false; - lm = hardwareMap.get(DcMotorEx.class, "blm"); - rm = hardwareMap.get(DcMotorEx.class, "brm"); - harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse"); - rotation = hardwareMap.get(DcMotorEx.class, "elvRot"); - rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv"); - lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); - rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv"); - rmelevator.setDirection(DcMotor.Direction.REVERSE); - rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); - - 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); - - telemetry.addData("wait for start", ""); - telemetry.update(); - - waitForStart(); - telemetry.addData("started", ""); - telemetry.update(); - robotOrientation = imu.getRobotYawPitchRollAngles(); - - while (opModeIsActive()) { - if (gamepad1.a && !auto) { - auto = true; - break; - } - } - if (opModeIsActive()) { - double motor_speed = 1.0; - lmelevator.setVelocity(600); - rmelevator.setVelocity(600); - lmelevator.setTargetPosition(200); - rmelevator.setTargetPosition(200); - rotation.setVelocity(600); - rotation.setTargetPosition(40); - lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION); - rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION); - rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION); - sleep(2000); - - lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - double total_time = robot.time_for_dist(1 * robot.ground_tiles_width, Math.abs(motor_speed)); - timer.reset(); - while (opModeIsActive() && timer.seconds() < total_time) { - lm.setPower(motor_speed); - rm.setPower(motor_speed); - } - lm.setPower(0); - rm.setPower(0); - - harvestmotor.setPower(-0.6); - - lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - total_time = robot.time_for_dist(0.7 * robot.ground_tiles_width, Math.abs(motor_speed)); - timer.reset(); - while (opModeIsActive() && timer.seconds() < total_time) { - lm.setPower(-motor_speed); - rm.setPower(-motor_speed); - } - lm.setPower(0); - rm.setPower(0); - - double angle = 90.0; - lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - double perimeter = Math.toRadians(angle)* 37.0/2.0; - int targetPos = (int) Math.floor(perimeter/(9e-2*Math.PI)); - targetPos = targetPos * 20; - rm.setTargetPosition(targetPos); - lm.setTargetPosition(-targetPos); - lm.setVelocity(600); - rm.setVelocity(600); - lm.setMode(DcMotor.RunMode.RUN_TO_POSITION); - rm.setMode(DcMotor.RunMode.RUN_TO_POSITION); - // while (Math.abs(lm.getCurrentPosition() - targetPos)>=2){} - - motor_speed= 1; - lm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - rm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); - total_time = robot.time_for_dist(1.5 * robot.ground_tiles_width, Math.abs(motor_speed)); - timer.reset(); - while (opModeIsActive() && timer.seconds() < total_time) { - lm.setPower(motor_speed); - rm.setPower(motor_speed); - } - lm.setPower(0); - rm.setPower(0); - - - } - } -}