68 lines
2.3 KiB
Java
68 lines
2.3 KiB
Java
package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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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 = "FGC2024", group = "WeRobot")
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public class FGC_2024 extends LinearOpMode {
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private DcMotorEx rm;
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private DcMotorEx lm;
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@Override
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public void runOpMode() throws InterruptedException {
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telemetry.addData("Status"," Initialized");
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telemetry.update();
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lm = hardwareMap.get(DcMotorEx.class, "lm");
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lm.setDirection(DcMotor.Direction.REVERSE);
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rm = hardwareMap.get(DcMotorEx.class, "rm");
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//lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
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//rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
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waitForStart();
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while(opModeIsActive()){
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float x = gamepad1.left_stick_x; // abscisse joystick gauche
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double y = gamepad1.left_stick_y; // ordonnées joystick gauche
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double lpower = 0.0; //puissance moteur gauche
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double rpower = 0.0; //puissance moteur droit
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lpower = ((1+x)*Math.signum(y))/2;
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rpower = ((1-x)*Math.signum(y))/2;
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if (Math.abs(x)>0.8){
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lpower = 1*Math.signum(x);
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rpower = -lpower;
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}
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lpower = lpower*gamepad1.left_trigger;
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rpower = lpower*gamepad1.left_trigger;
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rm.setPower(rpower);
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lm.setPower(lpower);
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telemetry.update();
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}
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}
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}
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