102 lines
No EOL
3.8 KiB
Java
102 lines
No EOL
3.8 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.IMU;
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import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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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.Orientation;
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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.AngleUnit;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.util.ElapsedTime;
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@Autonomous
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public class ftc2024_autonome_test extends LinearOpMode {
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private DcMotor rm;
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private DcMotor lm;
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private IMU imu;
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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(DcMotor.Direction.REVERSE);
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imu = hardwareMap.get(IMU.class, "imu");
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imu.initialize(
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new IMU.Parameters(
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new RevHubOrientationOnRobot(
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RevHubOrientationOnRobot.LogoFacingDirection.UP,
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RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
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)
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)
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);
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imu.resetYaw();
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YawPitchRollAngles robotOrientation;
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robotOrientation = imu.getRobotYawPitchRollAngles();
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double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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double yaw_sortie = 0.0;
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waitForStart();
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while (opModeIsActive()){
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double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
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double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1};
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double [] y = new double[lm_p.length];
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double [] x = new double[lm_p.length];
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for(int i = 0; i< lm_p.length; i++){
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while (opModeIsActive() && Yaw < 90){
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lm.setPower(lm_p[i]);
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rm.setPower(rm_p[i]);
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robotOrientation = imu.getRobotYawPitchRollAngles();
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Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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telemetry.addData("Yaw ", Yaw);
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telemetry.addData("I", i);
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telemetry.update();
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}
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lm.setPower(0);
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rm.setPower(0);
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robotOrientation = imu.getRobotYawPitchRollAngles();
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Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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x [i]= Yaw - 90.0;
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imu.resetYaw();
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robotOrientation = imu.getRobotYawPitchRollAngles();
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Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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telemetry.addData("Yaw", Yaw);
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telemetry.update();
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/*
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Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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telemetry.addData("Yaw", Yaw);
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telemetry.update();*/
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}
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while (opModeIsActive()){
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telemetry.addData("0.1", x[0]);
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telemetry.addData("0.2", x[1]);
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telemetry.addData("0.3", x[2]);
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telemetry.addData("0.4", x[3]);
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telemetry.addData("0.5", x[4]);
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telemetry.addData("0.6", x[5]);
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telemetry.addData("0.7", x[6]);
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telemetry.addData("0.8", x[7]);
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telemetry.addData("0.9", x[8]);
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telemetry.addData("1", x[9]);
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telemetry.update();
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}
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}
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}
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} |