364 lines
13 KiB
Java
364 lines
13 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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//test
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@TeleOp(name = "WeRobot: FTC2024 Carlike", group = "WeRobot")
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public class Werobot_FTC2024_carlike extends LinearOpMode {
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// Le moteur de droite
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private DcMotor rm;
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// Le moteur de gauche
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private DcMotor lm;
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private DcMotor moissoneuse;
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private DcMotorEx lmelevator;
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private DcMotorEx rmelevator;
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private DcMotorEx box;
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private DcMotorEx rotation;
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private IMU imu;
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/*
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* La fonction pour faire des exponentielles spécifiques
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*
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* @param double t => le nombre dont on veut faire l'exponentielle
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*
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* @return double une_exponentielle_très_spéciale_de_t
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*/
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private double helloexp(double t) {
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return (Math.exp(5 * t) - 1) / (Math.exp(5) - 1);
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}
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private void tele(String name, String data) {
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telemetry.addData(name, data);
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telemetry.update();
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}
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/*
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* La fonction du thread principal
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*/
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@Override
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public void runOpMode() throws InterruptedException {
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// l'axe x du joystick gauche de la manette
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float x;
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// l'axe y du joystick gauche de la manette
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double y;
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// variation 1 du left trigger
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double t;
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// variation 2 du left trigger
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double t2;
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// variation 3 du left trigger
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double t3;
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// le mode du robot
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String mode = "elina";
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// b est il déjà préssé?
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boolean already_b = false;
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boolean already_a = false;
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boolean already_x = false;
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boolean already_y = false;
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boolean already_up = false;
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boolean already_down = false;
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boolean sinking = false;
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telemetry.addData("Status", "Initialized");
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// telemetry.update();
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lm = hardwareMap.get(DcMotor.class, "blm");
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rm = hardwareMap.get(DcMotor.class, "brm");
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moissoneuse = hardwareMap.get(DcMotor.class, "moissonneuse");
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lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
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lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
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rmelevator.setDirection(DcMotor.Direction.REVERSE);
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rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
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rotation.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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box = hardwareMap.get(DcMotorEx.class, "boxRot");
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box.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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box.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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imu = hardwareMap.get(IMU.class, "imu");
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// rotation positions: 20° pos initiale par rapport au sol
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rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rotation.setVelocity(700, AngleUnit.DEGREES);
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rotation.setTargetPosition(40*288/360);
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imu.initialize(
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// paramètres de l'imu
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new IMU.Parameters(
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// orientation initiale du robot
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new RevHubOrientationOnRobot(
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//logo vers le haut
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RevHubOrientationOnRobot.LogoFacingDirection.UP,
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//usb vers l'avant
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RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
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// réinitialisation du yaw de l'imu
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imu.resetYaw();
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// telemetry.addData("Mode", "calibrating...");
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// telemetry.update();
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// make sure the imu gyro is calibrated before continuing.
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// while (!isStopRequested() && !imu.isGyroCalibrated())
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// {
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// sleep(50);
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// idle();
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// }
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/*
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* ajout de la donnée en "mode": "en attente de démarrage" sur telemetry
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*/
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telemetry.addData("Mode", "waiting for start");
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// telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
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/*
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* mise à jour de la telemetry
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*/
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telemetry.update();
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/*
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* en attente du démarrage
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*/
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waitForStart();
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while (opModeIsActive()){
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telemetry.addData("rotation target Pos", rotation.getTargetPosition());
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telemetry.addData("rotation Pos", rotation.getCurrentPosition());
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telemetry.addData("rotation velocity", rotation.getVelocity());
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telemetry.update();
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}
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/*
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* le robot a démarré, le tant que le robot est activé et donc qu'il n'a pas été
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* stoppé:
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*/
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while (opModeIsActive()) {
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/*
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* définition de {@link x} sur la valeur de x du joystick gauche du gamepad 1
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*/
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x = gamepad1.left_stick_x;
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/*
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* définition de {@link y} sur la valeur de y du joystick gauche du gamepad 1
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*/
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y = gamepad1.left_stick_y;
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/*
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* définition de {@link t} sur la valeur du trigger droit du gamepad 1
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*/
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t = gamepad1.right_trigger;
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/*
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* définition de {@link t2} par utilisation de la fonction {@link helloexp} sur
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* {@link t}
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*/
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t2 = helloexp(t);
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/*
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* définition de {@link t3} par utilisation de la fonction {@link helloexp} sur
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* la norme du vecteur du joystick gauche du gamepad 1 (racine carrée de {@link
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* x} au carré plus {@link y} au carré
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*/
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t3 = helloexp(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)));
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/*
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* ajout de la donnée "statut":"entrain de courrir" sur telemetry
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*/
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telemetry.addData("Status", "Running");
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/*
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* si le bouton a du gamepad 1 est appuyé et {already_a} est faux
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*/
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/*if (gamepad1.a && !already_a) {
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if (mode == "normal") {
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mode = "tank";
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} else if (mode == "tank") {
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mode = "essaifranck";
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} else if (mode == "essaifranck") {
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mode = "elina";
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} else {
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mode = "elina";
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}
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already_a = true;
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}*/
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if (!gamepad1.a && already_a) {
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already_a = false;
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}
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double lpower = 0.0;
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double rpower = 0.0;
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/*if (mode == "normal") {
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double ysign = y > 0 ? 1.0 : (y < 0 ? -1.0 : 0.0);
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double xsign = x > 0 ? 1.0 : (x < 0 ? -1.0 : 0.0);
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lpower = -ysign * t + (xsign - 2 * x) * t;
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rpower = ysign * t + (xsign - 2 * x) * t;
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tele("mode", "normal");
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} else if (mode == "tank") {
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lpower = -y;
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rpower = gamepad1.right_stick_y;
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tele("mode", "tank");*/
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if (mode == "essaifranck") {
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double a = (-y + x) / Math.pow(2, 1 / 2);
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double b = (-y - x) / Math.pow(2, 1 / 2);
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double vmean = (Math.abs(a) + Math.abs(b)) / 2;
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lpower = (a / vmean) * t2;
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rpower = (b / vmean) * t2;
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tele("mode", "essai Franck");
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} else if (mode == "elina") {
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double a = (-y + x) / Math.pow(2, 1 / 2);
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double b = (-y - x) / Math.pow(2, 1 / 2);
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double vmean = (Math.abs(a) + Math.abs(b)) / 2;
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lpower = (a / vmean) * t3;
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rpower = (b / vmean) * t3;
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tele("mode", "Elina");
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}
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if (gamepad1.left_trigger>0.1) {
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lpower /= 3;
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rpower /= 3;
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}
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lm.setPower(lpower);
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rm.setPower(rpower);
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if (gamepad1.b && !already_b) {
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double moissoneuseSpeed = 1.0;
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if (gamepad1.right_bumper){
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moissoneuseSpeed = -1.0;
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}
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already_b = !already_b;
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if (moissoneuse.getPower() == moissoneuseSpeed) {
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moissoneuse.setPower(0);
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} else {
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moissoneuse.setPower(moissoneuseSpeed);
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}
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}
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if (!gamepad1.b && already_b) {
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already_b = false;
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}
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if (sinking && Math.abs(lmelevator.getCurrentPosition()-90)<=5 && Math.abs(rmelevator.getCurrentPosition()-90)<=5){
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lmelevator.setVelocity(100);
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rmelevator.setVelocity(100);
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lmelevator.setTargetPosition(0);
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rmelevator.setTargetPosition(0);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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if ((gamepad1.dpad_up && !already_up)^(gamepad1.dpad_down && !already_down)){
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lmelevator.setVelocity(600);
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rmelevator.setVelocity(600);
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Long targetPosLong = (Long) Math.round(288*3.4);
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int targetPos = targetPosLong.intValue();
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if (gamepad1.dpad_down){
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targetPos = 90;
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already_down = true;
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sinking = true;
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}else{
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already_up = true;
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sinking = false;
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}
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lmelevator.setTargetPosition(targetPos);
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rmelevator.setTargetPosition(targetPos);
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lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}else if (!gamepad1.dpad_up && already_up){
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already_up = false;
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}else if (!gamepad1.dpad_down && already_down){
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already_down = false;
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}
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if (gamepad1.x && !already_x){
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box.setVelocity(200);
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int targetPos = 0;
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if(gamepad1.right_bumper){
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targetPos = 0;
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}
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box.setTargetPosition(targetPos);
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box.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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already_x = !already_x;
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} else if(!gamepad1.x && already_x){
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already_x = false;
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}
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if (gamepad1.y && already_y){
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rotation.setVelocity(450);
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int targetPos = 0;
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if (gamepad1.right_bumper){
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targetPos = 0;
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}else if (gamepad1.left_bumper){
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targetPos = 0;
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}
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rotation.setTargetPosition(targetPos);
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rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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}
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if (gamepad1.right_bumper && gamepad1.left_bumper){
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// launch the plane
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}
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telemetry.addData("x", x);
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telemetry.addData("y", y);
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telemetry.addData("lpow", lpower);
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telemetry.addData("rpow", rpower);
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telemetry.addData("ltrigg", t);
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telemetry.addData("t2", t2);
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// Create an object to receive the IMU angles
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YawPitchRollAngles robotOrientation;
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robotOrientation = imu.getRobotYawPitchRollAngles();
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// Now use these simple methods to extract each angle
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// (Java type double) from the object you just created:
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double Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
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double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
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double Roll = robotOrientation.getRoll(AngleUnit.DEGREES);
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telemetry.addData("yaw", Yaw);
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telemetry.update();
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}
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}
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}
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