105 lines
2.8 KiB
Java
105 lines
2.8 KiB
Java
package org.firstinspires.ftc.teamcode;
|
|
|
|
import fr.werobot.ftc2024.robotcontrol.FTC2024WeRobotControl;
|
|
|
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
|
|
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 ftc2024_autonome_api extends LinearOpMode {
|
|
public String autonomous_mode;
|
|
public DcMotor lm;
|
|
public DcMotor rm;
|
|
public DcMotor harvestmotor;
|
|
public IMU imu;
|
|
public YawPitchRollAngle robotOrientation;
|
|
@Override
|
|
public void runOpMode() {
|
|
lm = hardwareMap.get(DcMotor.class, "blm");
|
|
rm = hardwareMap.get(DcMotor.class, "brm");
|
|
harvestmotor = hardwareMap.get(DcMotor.class, "flm");
|
|
|
|
rm.setDirection(DcMotor.Direction.REVERSE);
|
|
|
|
imu = hardwareMap.get(IMU.class, "imu");
|
|
imu.initialize(
|
|
new IMU.Parameters(
|
|
new RevHubOrientationOnRobot(
|
|
RevHubOrientationOnRobot.LogoFacingDirection.UP,
|
|
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
|
|
)
|
|
)
|
|
);
|
|
imu.resetYaw();
|
|
FTC2024WeRobotControl robot = FTC2024WeRobotControl(this);
|
|
|
|
waitForStart();
|
|
robotOrientation = imu.getYawPitchRollAngles();
|
|
|
|
if(opModeIsRunning()){
|
|
/*
|
|
* autonomous_mode differents possibles values respect the next scheme:
|
|
* team_color_shortcode + start_line_index + direct_or_no
|
|
*
|
|
* team_color_shortcode = "b" for blue & "r" for red
|
|
* start_line_index = 4 or 2 see competition manual appendix B Tile location plan
|
|
* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest pixels before to go in deliver zone
|
|
*
|
|
* default is "b4d"
|
|
*/
|
|
switch (autonomous_mode){
|
|
default:
|
|
robot.forward(0.5);
|
|
robot.rotate(-90.0);
|
|
robot.forward(1.5);
|
|
robot.harvest(-1);
|
|
robot.backward(1);
|
|
robot.harvest(0);
|
|
break;
|
|
case ("b2d"):
|
|
robot.forward(0.5);
|
|
robot.rotate(-90.0);
|
|
robot.forward(2.5);
|
|
robot.harvest(-1);
|
|
robot.backward(1);
|
|
robot.harvest(0);
|
|
break;
|
|
case ("r4d"):
|
|
|
|
|
|
break;
|
|
case ("r2d"):
|
|
|
|
break;
|
|
|
|
case ("b4n"):
|
|
|
|
break;
|
|
case ("b2n"):
|
|
|
|
break;
|
|
case ("r4n"):
|
|
|
|
break;
|
|
case ("r2n"):
|
|
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|