werobot/fgc2023-robotcode
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Gzod01 2023-09-29 17:17:19 +02:00
parent 71fd015dc6
commit 09b9a7bc9c
1 changed files with 55 additions and 38 deletions
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93
WeRobot-Code.java
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@ -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});
}
}
}
}