From 09b9a7bc9caf832a4b3923722b8b36a88f66a672 Mon Sep 17 00:00:00 2001 From: GZod01 Date: Fri, 29 Sep 2023 17:17:19 +0200 Subject: [PATCH] helloworldhellwoorldeofoehfafihuofijoahfgyioafjpafhzguirg uvuizerurg_ozerygvoiuhrgreqiogrehh --- WeRobot-Code.java | 93 ++++++++++++++++++++++++++++------------------- 1 file changed, 55 insertions(+), 38 deletions(-) diff --git a/WeRobot-Code.java b/WeRobot-Code.java index 3dc6afc..3fb5b75 100644 --- a/WeRobot-Code.java +++ b/WeRobot-Code.java @@ -7,7 +7,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotorSimple; -@TeleOp(name="WeRobot: FGC2023 OpMode", group="WeRobot") +@TeleOp(name="WeRobot: FGC2023", group="WeRobot") public class WeRobot_FGC2023_GZod01 extends LinearOpMode { private DcMotor flm; private DcMotor frm; @@ -33,6 +33,7 @@ public class WeRobot_FGC2023_GZod01 extends LinearOpMode { moissonmotor = hardwareMap.get(DcMotor.class, "msn"); launchermotor = hardwareMap.get(DcMotor.class, "lnc"); mountmotor = hardwareMap.get(DcMotor.class, "mnt"); + WRRobot wr = new WRRobot(flm,frm,blm,brm); waitForStart(); while (opModeIsActive()) { @@ -67,94 +68,110 @@ public class WeRobot_FGC2023_GZod01 extends LinearOpMode { g2x = gamepad1.right_stick_x; - WRRobot.moves(x,y,flm, frm,blm,brm); - WRRobot.Rotation(g2x, flm, frm, blm, brm); + wr.moves(x,y ); + wr.Rotation(g2x ); } } } class WRRobot{ - public static void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){ + private DcMotor flm; + private DcMotor frm; + private DcMotor blm; + private DcMotor brm; + public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm){ + flm = cflm; + frm = cfrm; + blm = cblm; + brm = cbrm; + } + public void moves(float x, double y){ double approx = 0.15; boolean xnozero = (x<-approx || x>approx); boolean ynozero = (y<-approx || y>approx); - if((xnozero & ynozero) || (xnozero || ynozero)){ - //DO TRANSLATIONS - if(xnozero){ - if(ynozero){ - WRRobot.diagonal(x,y, flm,frm,blm,brm); - }else{ - WRRobot.horizontal(x,flm,frm,blm,brm); - } - }else{ - WRRobot.vertical(y,flm,frm,blm,brm); - } - } - else{ - // NO TRANSLATIONS BECAUSE 0 SO STOP + if(!(Math.abs(x)>approx || Math.abs(y)>approx)){ flm.setPower(0); frm.setPower(0); blm.setPower(0); brm.setPower(0); + return; + } + + //DO TRANSLATIONS + if(Math.abs(x)>approx){ + if(Math.abs(y)>approx){ + diagonal(x,y); + }else{ + horizontal(x); + } + }else{ + vertical(y); } } - public static void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){ + public void diagonal(float x, double y){ + double pow = Math.abs(x+y)/2; if(x>0){ if(y>0){ // North East - WRRobot.movement(flm,frm,blm,brm,new int[]{1,0,0,1}); + movement(new double[]{pow,0,0,-pow}); }else{ //South East - WRRobot.movement(flm,frm,blm,brm,new int[]{0,-1,-1,0}); + movement(new double[]{0,pow,-pow,0}); } }else{ if(y>0){ //North West - WRRobot.movement(flm,frm,blm,brm,new int[]{0,1,1,0}); + movement(new double[]{0,-pow,pow,0}); } else{ //South West - WRRobot.movement(flm,frm,blm,brm,new int[]{-1,0,0,-1}); + movement(new double[]{-pow,0,0,pow}); } } } - public static void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){ + public void horizontal(float x){ + double pow = Math.abs(x); if(x>0){ - WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,-1,1}); + movement(new double[]{pow,pow,-pow,-pow}); }else{ - WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,1,-1}); + movement(new double[]{-pow,-pow,pow,pow}); } } - public static void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){ + public void vertical(double y){ + double pow = Math.abs(y); if(y>0){ - WRRobot.movement(flm,frm,blm,brm,new int[]{1,1,1,1}); + movement(new double[]{pow,-pow,pow,-pow}); }else{ - WRRobot.movement(flm,frm,blm,brm,new int[]{-1,-1,-1,-1}); + movement(new double[]{pow,-pow,pow,-pow}); } } - public static void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){ + public void movement(double[] list){ flm.setPower(list[0]); frm.setPower(list[1]); blm.setPower(list[2]); brm.setPower(list[3]); } - public static void Rotation(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){ + + /* + * @param g2x is the x coordinates of the right joystick + */ + public void Rotation(float g2x){ double approx = 0.15; boolean xnozero = (g2x<-approx || g2x>approx); - if(xnozero){ - if(g2x>0){ - WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,1,-1}); - }else{ - WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,-1,1}); - } + double pow = Math.abs(g2x); + if (!xnozero) return; + if (g2x > 0) { + movement(new double[]{pow,pow,pow,pow}); + } else { + movement(new double[]{-pow,-pow,-pow,-pow}); } } -} \ No newline at end of file +}