81 lines
2.6 KiB
Java
81 lines
2.6 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.hardware.AnalogInput;
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import com.qualcomm.robotcore.hardware.Gyroscope;
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import com.qualcomm.robotcore.hardware.ColorSensor;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.hardware.DigitalChannel;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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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.util.ElapsedTime;
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@Autonomous
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public class ftc2024_autonome extends LinearOpMode {
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private DcMotor rm;
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private DcMotor lm;
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private ElapsedTime runtime = new ElapsedTime();
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@Override
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public void runOpMode() {
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lm = hardwareMap.get(DcMotor.class, "blm");
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rm = hardwareMap.get(DcMotor.class, "brm");
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rm.setDirection(DcMotorSimple.Direction.REVERSE);
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telemetry.addData("Status", "Initialized");
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telemetry.update();
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boolean mode = false;
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// Wait for the game to start (driver presses PLAY)
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waitForStart();
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runtime.reset();
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if (mode){
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//mode Elina
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while (opModeIsActive() && (runtime.seconds() <= 3.0)) {
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lm.setPower(1);
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rm.setPower(-1);
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telemetry.addData("Leg 1", runtime.seconds());
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telemetry.update();
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}
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runtime.reset();
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while (opModeIsActive() && (runtime.seconds() <= 10.0)) {
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lm.setPower(1);
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rm.setPower(1);
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telemetry.addData("Leg 2", runtime.seconds());
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telemetry.update();
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}
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}
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else {
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double[][] operations = {
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{3.0,-1.0,1.0}, // operation 1: 3 sec , lm=-1 , rm = 1
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{5.0,1.0,1.0},
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{2.0,-1.0,1.0},
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{3.0,-1.0,-1.0},
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{10.0,1.0,-1.0}
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};
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//mode Aurelien
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for(int i = 0; i<operations.length; i++){
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double time = operations[i][0];
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double lmvalue = operations[i][1];
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double rmvalue = operations[i][2];
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runtime.reset();
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while (opModeIsActive() && (runtime.seconds() <= time)) {
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lm.setPower(lmvalue);
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rm.setPower(rmvalue);
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telemetry.addData("Runtime Seconds", runtime.seconds());
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telemetry.addData("current_operation",operations[i]);
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telemetry.addData("current_op_id",i);
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telemetry.update();
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}
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}
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}
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// run until the end of the match (driver presses STOP
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}
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}
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