560 lines
No EOL
23 KiB
Java
560 lines
No EOL
23 KiB
Java
package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.util.ElapsedTime;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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import com.qualcomm.robotcore.robot.Robot;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import com.qualcomm.robotcore.hardware.Gamepad;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.robot.Robot;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.hardware.IMU;
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import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
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import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
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import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
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import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
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import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
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import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
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import org.firstinspires.ftc.robotcore.external.navigation.Position;
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import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
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@TeleOp(name = "WeRobot: FTC2024 NEW! Carlike", group = "WeRobot")
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public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
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public enum RobotMode {
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ESSAIFRANCK, ELINA, NORMAL, TANK;
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}
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private DcMotorEx rm;
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private DcMotorEx lm;
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private DcMotor moissoneuse;
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private DcMotorEx lmelevator;
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private DcMotorEx rmelevator;
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private DcMotorEx box;
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private DcMotorEx rotation;
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private Servo avion;
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private ElapsedTime runtime = new ElapsedTime();
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private RobotMode mode = RobotMode.ESSAIFRANCK;
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/*
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* La fonction pour faire des exponentielles spécifiques
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*
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* @param double t => le nombre dont on veut faire l'exponentielle
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*
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* @return double une_exponentielle_très_spéciale_de_t
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*/
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private double helloexp(double t) {
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return (Math.exp(5 * t) - 1) / (Math.exp(5) - 1);
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}
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public void nextMode() {
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RobotMode toNextMode;
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switch (this.mode) {
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case ESSAIFRANCK:
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toNextMode = RobotMode.ELINA;
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break;
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case ELINA:
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toNextMode = RobotMode.NORMAL;
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break;
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case NORMAL:
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toNextMode = RobotMode.TANK;
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break;
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default:
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toNextMode = RobotMode.ESSAIFRANCK;
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break;
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}
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this.mode = toNextMode;
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}
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public boolean isBetween(double elem, double mini, double maxi){
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return Math.abs(elem - (((maxi-mini)/2)+mini))<=(maxi-mini)/2;
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}
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// La fonction du thread principal
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@Override
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public void runOpMode() throws InterruptedException {
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double boxRot = 0;
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int signeBR;
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float x;
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double y;
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double t;
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double t2;
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double t3;
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boolean already_b = false;
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boolean already_a = false;
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boolean already_x = false;
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boolean already_y = false;
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boolean already_up = false;
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boolean already_down = false;
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boolean already_ps = false;
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boolean already_paddown = false;
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boolean already_padup = false;
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boolean already_padright = false;
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boolean already_padleft = false;
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boolean sinking = false;
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boolean manualMode = false;
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boolean firstLaunch = true;
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telemetry.addData("Status", "Initialized");
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telemetry.addData("Version", "5.123");
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lm = hardwareMap.get(DcMotorEx.class, "blm");
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rm = hardwareMap.get(DcMotorEx.class, "brm");
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rm.setDirection(DcMotor.Direction.REVERSE);
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lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
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rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
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moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse");
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moissoneuse.setDirection(DcMotor.Direction.REVERSE);
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lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
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lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
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rmelevator.setDirection(DcMotor.Direction.REVERSE);
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rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
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rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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box = hardwareMap.get(DcMotorEx.class, "boxRot");
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box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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box.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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avion = hardwareMap.get(Servo.class, "avion");
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// box.setPositionPIDFCoefficients(5.0);
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// rotation positions: 20° pos initiale par rapport au sol
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// while (runtime.seconds()<0.5){
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// rotation.setPower(0.5);
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// }
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telemetry.addData("Mode", "waiting for start");
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// rotation.setVelocity(1700);
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// rotation.setTargetPosition(-1000);
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// rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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telemetry.addData("rotation target Pos", rotation.getTargetPosition());
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telemetry.addData("rotation Pos", rotation.getCurrentPosition());
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telemetry.update();
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waitForStart();
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rotation.setVelocity(200);
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rotation.setTargetPosition(0);
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rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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while (opModeIsActive()) {
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x = gamepad1.left_stick_x;
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y = gamepad1.left_stick_y;
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/* définition de {@link t} sur la valeur du trigger droit du gamepad 1 */
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t = gamepad1.right_trigger;
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/*
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* définition de {@link t2} par utilisation de la fonction {@link helloexp} sur
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* {@link t}
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*/
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t2 = helloexp(t);
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/*
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* définition de {@link t3} par utilisation de la fonction {@link helloexp} sur
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* la norme du vecteur du joystick gauche du gamepad 1 (racine carrée de {@link
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* x} au carré plus {@link y} au carré)
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*/
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t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
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telemetry.addData("Status", "Running");
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if (gamepad1.right_bumper && gamepad1.left_bumper && gamepad1.a){
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avion.setPosition(1);
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continue;
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}
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// Choix mode conduite / actif en manuel et auto
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if (gamepad1.a && !already_a) {
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nextMode();
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already_a = true;
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}
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if (!gamepad1.a && already_a) {
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already_a = false;
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}
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double lpower = 0.0;
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double rpower = 0.0;
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double vmean;
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double a;
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double b;
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switch (mode) {
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case NORMAL:
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double ysign = Math.signum(y);
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double xsign = Math.signum(x);
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lpower = ysign * t + (-xsign - 2 * x) * t;
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rpower = ysign * t + (xsign - 2 * x) * t;
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break;
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case TANK:
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lpower = -y;
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rpower = -gamepad1.right_stick_y;
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break;
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case ESSAIFRANCK:
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// Code ci-dessous OK
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// lpower = (1 + x); //(a / vmean) * t2;
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// rpower = 2-lpower;//(b / vmean) * t2;
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// lpower*=t2*((Math.signum(y)==0)?1:-Math.signum(y)); // sigNum(0)
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// rpower*=t2*((Math.signum(y)==0)?1:-Math.signum(y));
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// Fin code OK
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int ltargetPos, rtargetPos;
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ltargetPos = rtargetPos = 0;
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int lmpos = lm.getCurrentPosition();
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int rmpos = rm.getCurrentPosition();
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int step = 100;
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// double rapp = step/theta;
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double signe = Math.signum(-y);
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signe = (signe == 0)?1.0:signe;
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if (Math.abs(x)<=0.1){
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ltargetPos = rtargetPos = 100;
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}else if (isBetween(x,0.1,0.9)){
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rtargetPos = step;
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ltargetPos = 2*step;
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}else if (x>=0.9){
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ltargetPos = step;
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rtargetPos = -step;
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}else if (x<=-0.9){
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ltargetPos = -step;
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rtargetPos = step;
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}else if (isBetween(x, -0.9,-0.1)){
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rtargetPos = 2*step;
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ltargetPos = step;
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}
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ltargetPos*=signe;
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rtargetPos*=signe;
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// if (x>0.1){
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// theta = Math.abs(Math.PI/2 - Math.atan2(-y,x));
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// theta = (theta > Math.PI/2)?(Math.PI - theta):theta;
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// ltargetPos = (int) (Math.floor(theta*37.0 + step)*signe);
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// rtargetPos = (int) (Math.floor(step)*signe);
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// }
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// else if (x < -0.1){
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// theta = Math.abs(Math.abs(Math.atan2(-y,x)) - Math.PI/2);
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// rtargetPos = (int) (Math.floor(theta*37.0 + step)*signe);
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// ltargetPos = (int) (Math.floor(step)*signe);
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// }
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// else {
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// rtargetPos = step*((int) Math.signum(-y));
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// ltargetPos = step*((int) Math.signum(-y));
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// }
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telemetry.addData("ltargetPos avant cut",ltargetPos);
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telemetry.addData("rtargetPos avant cut",rtargetPos);
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// ltargetPos = ((Math.abs(ltargetPos)> step)?(int) Math.signum(ltargetPos)*(step + Math.abs(ltargetPos)%step ):ltargetPos);
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// rtargetPos = ((Math.abs(rtargetPos)> step)?(int) Math.signum(rtargetPos)*(step + Math.abs(rtargetPos)%step):rtargetPos);
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lm.setTargetPosition(lmpos + ltargetPos);
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rm.setTargetPosition(rmpos + rtargetPos);
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lm.setVelocity(2800.0*t2);
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rm.setVelocity(2800.0*t2);
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// telemetry.addData("rapp",rapp);
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telemetry.addData("ltargetPos",ltargetPos);
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telemetry.addData("rtargetPos",rtargetPos);
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lm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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break;
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case ELINA:
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a = (-y + x) / Math.pow(2, 1 / 2);
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b = (-y - x) / Math.pow(2, 1 / 2);
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vmean = (Math.abs(a) + Math.abs(b)) / 2;
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lpower = (a / vmean) * t3;
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rpower = (b / vmean) * t3;
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break;
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}
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if (gamepad1.left_trigger > 0.1) {
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lpower /= 3;
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rpower /= 3;
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}
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// CODE OK
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// lm.setPower(lpower/1.5);
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// rm.setPower(rpower/1.5);
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// Fin code OK
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// activation moissonneuse -- actif en manuel et auto
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if (gamepad1.b && !already_b) {
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double moissoneuseSpeed = 1.0;
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if (gamepad1.right_bumper) {
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moissoneuseSpeed = -1.0;
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}
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already_b = !already_b;
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if (moissoneuse.getPower() == moissoneuseSpeed) {
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moissoneuse.setPower(0);
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} else {
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moissoneuse.setPower(moissoneuseSpeed);
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}
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}
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if (!gamepad1.b && already_b) {
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already_b = false;
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}
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// activation elevateur
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if (sinking && Math.abs(lmelevator.getCurrentPosition() - 90) <= 5
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&& Math.abs(rmelevator.getCurrentPosition() - 90) <= 5) {
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lmelevator.setVelocity(100);
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rmelevator.setVelocity(100);
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lmelevator.setTargetPosition(0);
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rmelevator.setTargetPosition(0);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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if ((gamepad1.dpad_up && !already_up) ^ (gamepad1.dpad_down && !already_down)) {
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lmelevator.setVelocity(600);
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rmelevator.setVelocity(600);
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Long targetPosLong = (Long) Math.round(288 * 3.4);
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int targetPos = targetPosLong.intValue();
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if (gamepad1.dpad_down) {
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targetPos = 90;
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already_down = true;
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sinking = true;
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} else {
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already_up = true;
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sinking = false;
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}
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lmelevator.setTargetPosition(targetPos);
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rmelevator.setTargetPosition(targetPos);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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} else if (!gamepad1.dpad_up && already_up) {
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already_up = false;
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} else if (!gamepad1.dpad_down && already_down) {
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already_down = false;
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}
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if (gamepad1.ps && !already_ps) {
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manualMode = !manualMode;
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already_ps = true;
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} else if (!gamepad1.ps && already_ps) {
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already_ps = false;
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}
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// activation rotation
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if (manualMode) {
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gamepad1.setLedColor(1.0, 0.0, 0.0,255);
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// lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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box.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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telemetry.addData("mode","MANUEL");
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// Elevator manual mode
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if (gamepad1.dpad_up) {
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// rmelevator.setPower(0.3);
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// lmelevator.setPower(0.3);
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lmelevator.setVelocity(400);
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rmelevator.setVelocity(400);
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int lpos = rmelevator.getCurrentPosition();
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int rpos = lmelevator.getCurrentPosition();
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lmelevator.setTargetPosition(lpos + 15);
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rmelevator.setTargetPosition(rpos + 15);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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} else if (gamepad1.dpad_down) {
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// lmelevator.setPower(-0.3);
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// rmelevator.setPower(-0.3);
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lmelevator.setVelocity(400);
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rmelevator.setVelocity(400);
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int lpos = rmelevator.getCurrentPosition();
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int rpos = lmelevator.getCurrentPosition();
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lmelevator.setTargetPosition(lpos - 15);
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rmelevator.setTargetPosition(rpos - 15);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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} else if (gamepad1.y) {
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double power = -0.3;
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if (gamepad1.right_bumper) {
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power = -power;
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}
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rotation.setPower(power);
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} else {
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// lmelevator.setPower(0);
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// rmelevator.setPower(0);
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rotation.setPower(0);
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// lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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// rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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}
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// Box manual mode
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if (gamepad1.dpad_left) {
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box.setPower(0.3);
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box.setPower(0.3);
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} else if (gamepad1.dpad_right) {
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box.setPower(-0.3);
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box.setPower(-0.3);
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}
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else {
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box.setPower(0);
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box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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}
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// Accrochage final
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if (gamepad1.x){
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// lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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// rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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lmelevator.setVelocity(600);
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rmelevator.setVelocity(600);
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lmelevator.setTargetPosition(40);
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rmelevator.setTargetPosition(40);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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} else {
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gamepad1.setLedColor(0.0, 0.0, 0.0,10);
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telemetry.addData("mode","AUTOMATIQUE");
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if (!gamepad1.dpad_right && already_padright) {
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already_padright = false;
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}
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if (gamepad1.dpad_right && !already_padright) {
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already_padright = true;
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// POSITION INITIALE
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rotation.setVelocity(600);
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rotation.setTargetPosition(0);
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lmelevator.setVelocity(600);
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lmelevator.setTargetPosition(0);
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rmelevator.setVelocity(600);
|
|
rmelevator.setTargetPosition(0);
|
|
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
|
|
if (!gamepad1.dpad_left && already_padleft) {
|
|
already_padleft = false;
|
|
}
|
|
if (gamepad1.dpad_left && !already_padleft) {
|
|
already_padleft = true;
|
|
// POSITION ROULAGE / Rammase Pixel dans boite
|
|
rotation.setVelocity(600);
|
|
rotation.setTargetPosition(-50);
|
|
|
|
lmelevator.setVelocity(600);
|
|
lmelevator.setTargetPosition(150);
|
|
rmelevator.setVelocity(600);
|
|
rmelevator.setTargetPosition(150);
|
|
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
|
|
|
|
if (!gamepad1.dpad_up && already_padup) {
|
|
already_y = false;
|
|
}
|
|
if (gamepad1.dpad_up && !already_padup) {
|
|
already_padup = true;
|
|
// POSITION CHASSE-NEIGE
|
|
rotation.setVelocity(600);
|
|
rotation.setTargetPosition(110);
|
|
|
|
lmelevator.setVelocity(600);
|
|
lmelevator.setTargetPosition(555);
|
|
rmelevator.setVelocity(600);
|
|
rmelevator.setTargetPosition(555);
|
|
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
|
|
|
|
// int pos = rotation.getCurrentPosition();
|
|
// rotation.setVelocity(200);
|
|
// if (gamepad1.right_bumper) {
|
|
// // rotation.setTargetPosition(pos - 25);
|
|
// rotation.setTargetPosition(-100); // vertical si pos origine = 0
|
|
// } else if (gamepad1.left_bumper) {
|
|
// // rotation.setTargetPosition(pos + 25);
|
|
// rotation.setTargetPosition(1000); // position basse
|
|
// } else {
|
|
// rotation.setTargetPosition(0);
|
|
// }
|
|
// rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
|
|
if (!gamepad1.dpad_down && already_paddown) {
|
|
already_a = false;
|
|
}
|
|
if (gamepad1.dpad_down && !already_paddown) {
|
|
already_a = true;
|
|
// POSITION BASSE
|
|
rotation.setVelocity(600);
|
|
rotation.setTargetPosition(800);
|
|
|
|
lmelevator.setVelocity(600);
|
|
lmelevator.setTargetPosition(0);
|
|
rmelevator.setVelocity(600);
|
|
rmelevator.setTargetPosition(0);
|
|
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
}
|
|
|
|
if (gamepad1.right_bumper && gamepad1.left_bumper) {
|
|
avion.setPosition(110);
|
|
}
|
|
|
|
telemetry.addData("x", x);
|
|
telemetry.addData("y", y);
|
|
telemetry.addData("mode", mode);
|
|
telemetry.addData("lpow", lpower);
|
|
telemetry.addData("rpow", rpower);
|
|
telemetry.addData("ltrigg", t);
|
|
telemetry.addData("t2", t2);
|
|
telemetry.addData("rotation power", boxRot);
|
|
telemetry.addData("Position elevateur l", lmelevator.getCurrentPosition());
|
|
telemetry.addData("Position elevateur r", rmelevator.getCurrentPosition());
|
|
telemetry.addData("Position rotation", rotation.getCurrentPosition());
|
|
telemetry.addData("Position box", box.getCurrentPosition());
|
|
telemetry.addData("box velocity", rotation.getVelocity());
|
|
telemetry.update();
|
|
}
|
|
}
|
|
|
|
} |