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compare: werobot:5da5ebbe1e63c48f751904a50ed202cf833f7cb8
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13 commits
ec62678d80 ... 5da5ebbe1e

Author SHA1 Message Date
GZod01
5da5ebbe1e helloworld, we added some features and we hope that the robot will work but we know that hope is often lies, so we have to hope even if we know that it's false, 'Measuring programming progree by lines of code is like measuring aircraft building progree by weight.' - Bill Gates 2024-06-02 16:57:59 +02:00
Zelina974
8e3b2196a1 update 2024-05-20 18:05:40 +02:00
Zelina974
49caf3df3d Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode 2024-05-20 17:09:17 +02:00
Zelina974
335f8b3e89 update 2024-05-20 17:08:50 +02:00
GZod01
eed163266b autonometest 2024-05-12 15:54:51 +02:00
GZod01
66925dc7e0 Add AutonomeTest.java 2024-05-12 14:49:07 +02:00
G_Zod01
ee1a339a2a add hello.99.java, a cool file to demonstrate that java can be inline... Let's go: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Cras malesuada nulla nec lorem auctor placerat. Aliquam justo turpis, laoreet et eleifend id, pretium et justo. Sed leo enim, euismod non efficitur et, consectetur ac purus. Maecenas ac lorem vulputate, aliquam dui consectetur, iaculis lacus. Quisque consectetur faucibus egestas. Morbi erat arcu, sagittis nec mi nec, faucibus tristique sem. Donec eu nulla nec enim volutpat faucibus. Praesent sed mattis tellus. Proin volutpat viverra magna, sed auctor nisi fermentum quis. Donec gravida neque non metus venenatis, id posuere ante malesuada. Suspendisse ultricies pellentesque urna, non blandit urna faucibus sit amet. Vestibulum et felis et ipsum ullamcorper facilisis sit amet id diam. Phasellus tempus augue nec vehicula vehicula. Ut ut eleifend diam, at accumsan nibh. Class aptent taciti sociosqu ad litora torquent per conubia nostra, per inceptos himenaeos. 2024-04-06 14:54:11 +02:00
G_Zod01
1eeff6a40c Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode 2024-04-06 14:51:06 +02:00
G_Zod01
5907221497 h 2024-04-06 14:50:54 +02:00
Zelina974
7afcf0aa8d Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode 2024-04-06 14:48:52 +02:00
G_Zod01
fb4690d606 h 2024-04-06 14:48:25 +02:00
G_Zod01
f87d734437 Merge branch 'master' of https://forge.gzod01.fr/werobot/ftc2024-robotcode 2024-04-06 14:48:10 +02:00
G_Zod01
878e91d992 hello 2024-04-06 14:47:49 +02:00
5 changed files with 313 additions and 5 deletions
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91
AutonomeTest.java Normal file
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@ -0,0 +1,91 @@
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 Normal file
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@ -0,0 +1,68 @@
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(0.5);
robot.harvest(0);
robot.forward(1);
robot.harvest(0);
/* 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 Normal file
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@ -0,0 +1 @@
package tld.domain.truc;import tld.domain.autre_truc;public class hello_999{public void main(){System.out.println("helloworld");}}

148
lastmatch.java Normal file
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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);
}
}
}