372 lines
14 KiB
Java
372 lines
14 KiB
Java
package org.firstinspires.ftc.teamcode;
|
|
|
|
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
|
import com.qualcomm.robotcore.util.ElapsedTime;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
|
|
import com.qualcomm.robotcore.robot.Robot;
|
|
import org.firstinspires.ftc.robotcore.external.Telemetry;
|
|
import com.qualcomm.robotcore.hardware.Gamepad;
|
|
import com.qualcomm.robotcore.hardware.DcMotorEx;
|
|
import com.qualcomm.robotcore.robot.Robot;
|
|
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
|
|
import com.qualcomm.robotcore.hardware.DcMotor;
|
|
import com.qualcomm.robotcore.hardware.DcMotorSimple;
|
|
import com.qualcomm.robotcore.hardware.Servo;
|
|
|
|
import com.qualcomm.robotcore.hardware.IMU;
|
|
import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
|
|
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.Position;
|
|
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
|
|
|
|
@TeleOp(name = "WeRobot: FTC2024 NEW!!! Carlike", group = "WeRobot")
|
|
public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
|
|
public enum RobotMode {
|
|
ESSAIFRANCK, ELINA, NORMAL, TANK;
|
|
}
|
|
|
|
private DcMotor rm;
|
|
private DcMotor lm;
|
|
private DcMotor moissoneuse;
|
|
private DcMotorEx lmelevator;
|
|
private DcMotorEx rmelevator;
|
|
private DcMotorEx box;
|
|
private DcMotorEx rotation;
|
|
private ElapsedTime runtime = new ElapsedTime();
|
|
private RobotMode mode = RobotMode.ESSAIFRANCK;
|
|
|
|
/*
|
|
* La fonction pour faire des exponentielles spécifiques
|
|
*
|
|
* @param double t => le nombre dont on veut faire l'exponentielle
|
|
*
|
|
* @return double une_exponentielle_très_spéciale_de_t
|
|
*/
|
|
private double helloexp(double t) {
|
|
return (Math.exp(5 * t) - 1) / (Math.exp(5) - 1);
|
|
}
|
|
|
|
public void nextMode() {
|
|
RobotMode toNextMode;
|
|
switch (this.mode) {
|
|
case ESSAIFRANCK:
|
|
toNextMode = RobotMode.ELINA;
|
|
break;
|
|
case ELINA:
|
|
toNextMode = RobotMode.NORMAL;
|
|
break;
|
|
case NORMAL:
|
|
toNextMode = RobotMode.TANK;
|
|
break;
|
|
default:
|
|
toNextMode = RobotMode.ESSAIFRANCK;
|
|
break;
|
|
}
|
|
this.mode = toNextMode;
|
|
}
|
|
|
|
// La fonction du thread principal
|
|
@Override
|
|
public void runOpMode() throws InterruptedException {
|
|
|
|
double boxRot = 0;
|
|
int signeBR;
|
|
|
|
float x;
|
|
double y;
|
|
|
|
double t;
|
|
double t2;
|
|
double t3;
|
|
|
|
boolean already_b = false;
|
|
boolean already_a = false;
|
|
boolean already_x = false;
|
|
boolean already_y = false;
|
|
boolean already_up = false;
|
|
boolean already_down = false;
|
|
boolean already_ps = false;
|
|
|
|
boolean sinking = false;
|
|
boolean manualMode = false;
|
|
boolean firstLaunch = true;
|
|
|
|
telemetry.addData("Status", "Initialized");
|
|
|
|
lm = hardwareMap.get(DcMotor.class, "blm");
|
|
|
|
rm = hardwareMap.get(DcMotor.class, "brm");
|
|
rm.setDirection(DcMotor.Direction.REVERSE);
|
|
|
|
moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse");
|
|
moissoneuse.setDirection(DcMotor.Direction.REVERSE);
|
|
|
|
lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
|
|
lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
|
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
|
|
rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
|
|
rmelevator.setDirection(DcMotor.Direction.REVERSE);
|
|
rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
|
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
|
|
rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
|
|
rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
|
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
|
|
box = hardwareMap.get(DcMotorEx.class, "boxRot");
|
|
box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
// box.setPositionPIDFCoefficients(5.0);
|
|
|
|
// rotation positions: 20° pos initiale par rapport au sol
|
|
// while (runtime.seconds()<0.5){
|
|
// rotation.setPower(0.5);
|
|
// }
|
|
|
|
telemetry.addData("Mode", "waiting for start");
|
|
|
|
// rotation.setVelocity(1700);
|
|
// rotation.setTargetPosition(-1000);
|
|
// rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
|
|
telemetry.addData("rotation target Pos", rotation.getTargetPosition());
|
|
telemetry.addData("rotation Pos", rotation.getCurrentPosition());
|
|
telemetry.update();
|
|
|
|
waitForStart();
|
|
rotation.setVelocity(200);
|
|
rotation.setTargetPosition(0);
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
while (opModeIsActive()) {
|
|
|
|
x = gamepad1.left_stick_x;
|
|
y = gamepad1.left_stick_y;
|
|
|
|
/* définition de {@link t} sur la valeur du trigger droit du gamepad 1 */
|
|
t = gamepad1.right_trigger;
|
|
|
|
/*
|
|
* définition de {@link t2} par utilisation de la fonction {@link helloexp} sur
|
|
* {@link t}
|
|
*/
|
|
t2 = helloexp(t);
|
|
|
|
/*
|
|
* définition de {@link t3} par utilisation de la fonction {@link helloexp} sur
|
|
* la norme du vecteur du joystick gauche du gamepad 1 (racine carrée de {@link
|
|
* x} au carré plus {@link y} au carré
|
|
*/
|
|
t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
|
|
|
|
telemetry.addData("Status", "Running");
|
|
|
|
if (0.1 < gamepad1.right_stick_x) {
|
|
boxRot = 0.1;
|
|
} else if (-0.1 > gamepad1.right_stick_x) {
|
|
boxRot = -0.1;
|
|
} else {
|
|
boxRot = 0;
|
|
}
|
|
if (gamepad1.right_trigger > 0) {
|
|
box.setPower(boxRot);
|
|
}
|
|
// if (boxRot <= 0){
|
|
// signeBR = -1;
|
|
// }
|
|
// else{
|
|
// signeBR=1;
|
|
// }
|
|
|
|
// if (Math.abs(boxRot) < 0.1){
|
|
// boxRot = 0.4*signeBR;
|
|
// }
|
|
// else {
|
|
// boxRot = 0.4*signeBR + boxRot/1.67;
|
|
// if (boxRot*signeBR > 0.9){
|
|
// boxRot = signeBR;
|
|
// }
|
|
// }
|
|
|
|
if (gamepad1.a && !already_a) {
|
|
nextMode();
|
|
already_a = true;
|
|
}
|
|
if (!gamepad1.a && already_a) {
|
|
already_a = false;
|
|
}
|
|
double lpower = 0.0;
|
|
double rpower = 0.0;
|
|
|
|
switch (mode) {
|
|
case NORMAL:
|
|
double ysign = Math.signum(y);
|
|
double xsign = Math.signum(x);
|
|
lpower = -ysign * t + (xsign - 2 * x) * t;
|
|
rpower = ysign * t + (xsign - 2 * x) * t;
|
|
break;
|
|
|
|
case TANK:
|
|
lpower = -y;
|
|
rpower = -gamepad1.right_stick_y;
|
|
break;
|
|
|
|
case ESSAIFRANCK:
|
|
double a = (-y + x) / Math.pow(2, 1 / 2);
|
|
double b = (-y - x) / Math.pow(2, 1 / 2);
|
|
double vmean = (Math.abs(a) + Math.abs(b)) / 2;
|
|
lpower = (a / vmean) * t2;
|
|
rpower = (b / vmean) * t2;
|
|
break;
|
|
|
|
case ELINA:
|
|
a = (-y + x) / Math.pow(2, 1 / 2);
|
|
b = (-y - x) / Math.pow(2, 1 / 2);
|
|
vmean = (Math.abs(a) + Math.abs(b)) / 2;
|
|
lpower = (a / vmean) * t3;
|
|
rpower = (b / vmean) * t3;
|
|
break;
|
|
}
|
|
|
|
if (gamepad1.left_trigger > 0.1) {
|
|
lpower /= 3;
|
|
rpower /= 3;
|
|
}
|
|
|
|
lm.setPower(lpower/1.5);
|
|
rm.setPower(rpower/1.5);
|
|
|
|
// activation moissonneuse
|
|
if (gamepad1.b && !already_b) {
|
|
double moissoneuseSpeed = 1.0;
|
|
if (gamepad1.right_bumper) {
|
|
moissoneuseSpeed = -1.0;
|
|
}
|
|
already_b = !already_b;
|
|
if (moissoneuse.getPower() == moissoneuseSpeed) {
|
|
moissoneuse.setPower(0);
|
|
} else {
|
|
moissoneuse.setPower(moissoneuseSpeed);
|
|
}
|
|
}
|
|
if (!gamepad1.b && already_b) {
|
|
already_b = false;
|
|
}
|
|
|
|
// activation elevateur
|
|
if (sinking && Math.abs(lmelevator.getCurrentPosition() - 90) <= 5
|
|
&& Math.abs(rmelevator.getCurrentPosition() - 90) <= 5) {
|
|
lmelevator.setVelocity(100);
|
|
rmelevator.setVelocity(100);
|
|
lmelevator.setTargetPosition(0);
|
|
rmelevator.setTargetPosition(0);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
if ((gamepad1.dpad_up && !already_up) ^ (gamepad1.dpad_down && !already_down)) {
|
|
lmelevator.setVelocity(600);
|
|
rmelevator.setVelocity(600);
|
|
Long targetPosLong = (Long) Math.round(288 * 3.4);
|
|
int targetPos = targetPosLong.intValue();
|
|
if (gamepad1.dpad_down) {
|
|
targetPos = 90;
|
|
already_down = true;
|
|
sinking = true;
|
|
} else {
|
|
already_up = true;
|
|
sinking = false;
|
|
}
|
|
lmelevator.setTargetPosition(targetPos);
|
|
rmelevator.setTargetPosition(targetPos);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
|
|
} else if (!gamepad1.dpad_up && already_up) {
|
|
already_up = false;
|
|
} else if (!gamepad1.dpad_down && already_down) {
|
|
already_down = false;
|
|
}
|
|
|
|
if (gamepad1.ps && !already_ps) {
|
|
manualMode = !manualMode;
|
|
already_ps = true;
|
|
} else if (!gamepad1.ps && already_ps) {
|
|
already_ps = false;
|
|
}
|
|
|
|
// activation rotation
|
|
if (manualMode) {
|
|
gamepad1.setLedColor(255, 0, 0, 10);
|
|
lmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
|
rmelevator.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
|
rotation.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
|
|
if (gamepad1.dpad_up) {
|
|
rmelevator.setPower(0.3);
|
|
lmelevator.setPower(0.3);
|
|
} else if (gamepad1.dpad_down) {
|
|
lmelevator.setPower(-0.3);
|
|
rmelevator.setPower(-0.3);
|
|
} else if (gamepad1.y) {
|
|
double power = -0.3;
|
|
if (gamepad1.right_bumper) {
|
|
power = -power;
|
|
}
|
|
rotation.setPower(power);
|
|
} else {
|
|
lmelevator.setPower(0);
|
|
rmelevator.setPower(0);
|
|
rotation.setPower(0);
|
|
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
|
}
|
|
|
|
} else {
|
|
gamepad1.setLedColor(0, 0, 255, 10);
|
|
}
|
|
|
|
if (!gamepad1.y && already_y && !manualMode) {
|
|
already_y = false;
|
|
}
|
|
if (gamepad1.y && !already_y && !manualMode) {
|
|
already_y = true;
|
|
int pos = rotation.getCurrentPosition();
|
|
rotation.setVelocity(200);
|
|
if (gamepad1.right_bumper) {
|
|
// rotation.setTargetPosition(pos - 25);
|
|
rotation.setTargetPosition(-100); // vertical si pos origine = 0
|
|
} else if (gamepad1.left_bumper) {
|
|
// rotation.setTargetPosition(pos + 25);
|
|
rotation.setTargetPosition(1000); // position basse
|
|
} else {
|
|
rotation.setTargetPosition(0);
|
|
}
|
|
rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
|
}
|
|
|
|
if (gamepad1.right_bumper && gamepad1.left_bumper) {
|
|
// launch the plane
|
|
}
|
|
|
|
telemetry.addData("x", x);
|
|
telemetry.addData("y", y);
|
|
telemetry.addData("mode", mode);
|
|
telemetry.addData("lpow", lpower);
|
|
telemetry.addData("rpow", rpower);
|
|
telemetry.addData("ltrigg", t);
|
|
telemetry.addData("t2", t2);
|
|
telemetry.addData("rotation power", boxRot);
|
|
telemetry.addData("mode manuel", manualMode);
|
|
telemetry.addData("Position elevateur l", lmelevator.getCurrentPosition());
|
|
telemetry.addData("Position elevateur r", rmelevator.getCurrentPosition());
|
|
telemetry.addData("Position rotation", rotation.getCurrentPosition());
|
|
telemetry.addData("Position box", box.getCurrentPosition());
|
|
telemetry.addData("box velocity", rotation.getVelocity());
|
|
telemetry.update();
|
|
}
|
|
}
|
|
|
|
}
|