203 lines
7.4 KiB
Java
203 lines
7.4 KiB
Java
package org.firstinspires.ftc.teamcode;
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//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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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_api extends LinearOpMode {
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public enum AutoMode{
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B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
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}
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public AutoMode autonomous_mode;
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public DcMotor lm;
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public DcMotor rm;
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public DcMotorEx lmelevator;
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public DcMotorEx rmelevator;
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public DcMotor harvestmotor;
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public IMU imu;
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public DcMotorEx rotation;
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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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harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
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rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
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lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
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rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
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rm.setDirection(DcMotor.Direction.REVERSE);
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rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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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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imu.resetYaw();
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YawPitchRollAngles robotOrientation;
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FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
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autonomous_mode = AutoMode.B4D;
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telemetry.addData("wait for start", "");
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telemetry.update();
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waitForStart();
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telemetry.addData("started", "");
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telemetry.update();
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robotOrientation = imu.getRobotYawPitchRollAngles();
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if (opModeIsActive()) {
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/*
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* autonomous_mode differents possibles values respect the next scheme:
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* team_color_shortcode + start_line_index + direct_or_no
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*
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* team_color_shortcode = "b" for blue & "r" for red
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* start_line_index = 4 or 2 see competition manual appendix B Tile location
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* plan
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* direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest
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* pixels before to go in deliver zone
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*
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* default is "b4d"
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*/
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switch (autonomous_mode) {
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default:
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robot.boxElv();
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robot.forward(2);
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robot.rotate((-90));
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robot.forward(3.5);
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robot.harvest(-1);
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robot.backward(0.5);
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robot.harvest(0);
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robot.forward(0.5);
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break;
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case B2D:
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robot.boxElv();
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robot.forward(0.5);
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robot.rotate((-90));
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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robot.forward(1);
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break;
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case R4D:
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robot.boxElv();
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robot.forward(2);
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robot.rotate(90);
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robot.posBasse();
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robot.forward(3.5);
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robot.harvest(-1);
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robot.backward(0.5);
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robot.harvest(0);
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robot.forward(1);
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break;
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case R2D:
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robot.boxElv();
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robot.forward(0.5);
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robot.rotate(90);
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robot.forward(1.5);
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robot.harvest(-1);
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robot.backward(0.5);
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robot.harvest(0);
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robot.forward(0.5);
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break;
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case B4N:
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robot.boxElv();
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robot.forward(1.5);
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robot.rotate(90);
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robot.harvest();
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robot.forward(3);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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robot.forward(1);
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break;
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case B2N:
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robot.boxElv();
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robot.forward(1.5);
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robot.rotate(90);
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robot.harvest();
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robot.forward(1);
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robot.harvest(0);
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robot.forward(1);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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robot.forward(1);
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break;
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case R4N:
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robot.boxElv();
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robot.forward(1.5);
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robot.rotate(-90);
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robot.harvest();
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robot.forward(3);
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robot.harvest(0);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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robot.forward(1);
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break;
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case R2N:
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robot.boxElv();
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robot.forward(1.5);
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robot.rotate(-90);
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robot.harvest();
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robot.forward(1);
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robot.harvest(0);
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robot.forward(1);
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robot.rotate(180);
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robot.forward(1);
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robot.rotate(90);
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robot.forward(1);
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robot.rotate(-90);
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robot.forward(2.5);
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robot.harvest(-1);
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robot.backward(1);
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robot.harvest(0);
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robot.forward(1);
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break;
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}
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}
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}
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}
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