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5 changed files with 5 additions and 313 deletions
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91
AutonomeTest.java
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@ -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()<boiteG.getTargetPosition()){
boiteD.setVelocity(100);
boiteD.setMode(DcMotor.RunMode.RUN_TO_POSITION);
boiteG.setVelocity(100);
boiteG.setMode(DcMotor.RunMode.RUN_TO_POSITION);
telemetry.addData("position elv droit", boiteD.getCurrentPosition());
telemetry.addData("position elv gauche", boiteG.getCurrentPosition());
telemetry.update();
}
gauche.setTargetPosition(700*3);
droit.setTargetPosition(700*3);
while (opModeIsActive() && gauche.getCurrentPosition()<gauche.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(165);
droit.setTargetPosition(1235);
while (opModeIsActive() && droit.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()<gauche.getTargetPosition()){
moissonneuse.setPower(1);
gauche.setVelocity(250);
gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
droit.setVelocity(250);
droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
moissonneuse.setPower(0);
gauche.setVelocity(0);
droit.setVelocity(0);
}
}

68
fgc2024Pilotage.java
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@ -1,68 +0,0 @@
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.robot.Robot;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.robot.Robot;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
@TeleOp(name = "FGC2024", group = "WeRobot")
public class FGC_2024 extends LinearOpMode {
private DcMotorEx rm;
private DcMotorEx lm;
@Override
public void runOpMode() throws InterruptedException {
telemetry.addData("Status"," Initialized");
telemetry.update();
lm = hardwareMap.get(DcMotorEx.class, "lm");
lm.setDirection(DcMotor.Direction.REVERSE);
rm = hardwareMap.get(DcMotorEx.class, "rm");
//lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
//rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
waitForStart();
while(opModeIsActive()){
float x = gamepad1.left_stick_x; // abscisse joystick gauche
double y = gamepad1.left_stick_y; // ordonnées joystick gauche
double lpower = 0.0; //puissance moteur gauche
double rpower = 0.0; //puissance moteur droit
lpower = ((1+x)*Math.signum(y))/2;
rpower = ((1-x)*Math.signum(y))/2;
if (Math.abs(x)>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();
}
}
}

10
ftc2024_autonome_api.java
View file

@ -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();

1
hello.99.java
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@ -1 +0,0 @@
package tld.domain.truc;import tld.domain.autre_truc;public class hello_999{public void main(){System.out.println("helloworld");}}

148
lastmatch.java
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@ -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);
}
}
}