Actualiser WeRobot-Code.java
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1 changed files with 165 additions and 39 deletions
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@ -2,10 +2,14 @@ package org.firstinspires.ftc.teamcode;
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//package fr.gzod01.werobot.competition_singapour_2023;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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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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@TeleOp(name="WeRobot: FGC2023", group="WeRobot")
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public class WeRobot_FGC2023 extends LinearOpMode {
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@ -15,18 +19,32 @@ public class WeRobot_FGC2023 extends LinearOpMode {
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private DcMotor blm;
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// OTHER THAN MOVES:
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// lanceur = panier
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private DcMotor lanceur = null;
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private DcMotorEx panier1 = null;
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private DcMotorEx panier2 = null;
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private DcMotor moissoneuse = null;
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private DcMotor accroche = null;
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private Servo servoAccroche = null;
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private Servo servoPanier = null;
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private double puissanceMoissoneuse = 0;
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private boolean lanceurEnRoute = false;
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private boolean panierEnRoute = false;
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private boolean dejavu = false;
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private boolean dejavulb = false;
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private boolean dejavudl = false;
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private boolean dejavudr = false;
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private boolean modeFrein = false;
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private boolean moissoneuseEnRoute = false;
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private boolean servoAccrocheEnRoute = true;
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private boolean dejavuM = false;
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private boolean dejavuA = false;
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private boolean dejavudown = false;
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private boolean panierDescendu = false;
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private double puissancePanier1 = 0;
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private double puissancePanier2 = 0;
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private int targetPos;
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private Long targetPosLong;
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@Override
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public void runOpMode() {
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public void runOpMode() throws InterruptedException {
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float x;
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double y;
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float g2x;
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@ -37,13 +55,25 @@ public class WeRobot_FGC2023 extends LinearOpMode {
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blm = hardwareMap.get(DcMotor.class, "blm");
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brm = hardwareMap.get(DcMotor.class, "brm");
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// OTHER THAN MOVES:
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lanceur = hardwareMap.get(DcMotor.class, "lnc");
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panier1 = (DcMotorEx) hardwareMap.get(DcMotorEx.class, "pn1");
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panier2 = (DcMotorEx) hardwareMap.get(DcMotorEx.class, "pn2");
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panier2.setDirection(DcMotorSimple.Direction.REVERSE);
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panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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panier2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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moissoneuse = hardwareMap.get(DcMotor.class, "msn");
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accroche = hardwareMap.get(DcMotor.class,"mnt");
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servoAccroche = hardwareMap.get(Servo.class, "servomnt");
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servoPanier = hardwareMap.get(Servo.class, "servobascule");
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accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
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WRRobot wr = new WRRobot(flm,frm,blm,brm);
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WRRobot wr = new WRRobot(flm,frm,blm,brm,gamepad1);
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servoPanier.setPosition(0.5);
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servoAccroche.setPosition(0.5);
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waitForStart();
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while (opModeIsActive()) {
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telemetry.addData("Status", "Running");
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telemetry.update();
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@ -53,29 +83,115 @@ public class WeRobot_FGC2023 extends LinearOpMode {
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wr.moves(x,y );
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wr.Rotation(g2x );
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// OTHER THAN MOVES:
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// // bouton O
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if (gamepad1.b){
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if (gamepad1.dpad_up){
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if (!dejavu){
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if (lanceurEnRoute){
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lanceur.setPower(0.8);
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}
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else{
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lanceur.setPower(0);
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}
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lanceurEnRoute=!lanceurEnRoute;
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// tick par seconde
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// panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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// panier2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
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panier1.setVelocity(600);
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panier2.setVelocity(600);
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// 288 ticks par tour
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targetPosLong = (Long) Math.round(288*8.5);
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telemetry.addData("Long Pos : ", targetPosLong);
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targetPos = targetPosLong.intValue();
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panier1.setTargetPosition(targetPos);
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panier2.setTargetPosition(targetPos);
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panier2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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panier1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
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// while (panier1.isBusy()){
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// targetPos = panier1.getCurrentPosition();
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// }
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telemetry.addData("New code :","isOK");
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panierEnRoute=!panierEnRoute;
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dejavu=true;
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}
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}
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else{
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dejavu = false;
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dejavu=false;
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}
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//bouton X
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if (gamepad1.a){
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if (gamepad1.dpad_down){
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if (!dejavudown){
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panier1.setVelocity(75);
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panier2.setVelocity(75);
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targetPosLong = (Long) Math.round(288*2.5);
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targetPos = targetPosLong.intValue();
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panier1.setTargetPosition(targetPos);
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panier2.setTargetPosition(targetPos);
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dejavudown = true;
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}
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}
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else{
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dejavudown = false;
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}
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if (gamepad1.left_bumper){
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if(!dejavulb){
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double[] positions_to_go = {0.5,0.6,0.7,0.8,0.825,0.85,0.875,0.9,0.95,1};
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int[] times_to_sleep = { 100,100,100,200,200,200,200,200,200,200,200,200,200,200};
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for(int i= 0; i < positions_to_go.length; i++){
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Thread.sleep(times_to_sleep[i]);
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servoPanier.setPosition(positions_to_go[i]);
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}
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dejavulb = true;
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}
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dejavulb = false;
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}
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//boutton rose
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if(gamepad1.x){
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if(!dejavudl){
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servoPanier.setPosition(0.37);
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dejavudl = true;
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}
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dejavudl = false;
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}
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if (gamepad1.right_bumper){
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if (!dejavuA){
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if (servoAccrocheEnRoute){
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/*double[] p_t_g = {0.55,0.5,0.45,0.4,0.35,0.3,0.275,0.2625,0.25,0.24};
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int[] t_t_s = {100,100,100,100,100,100,300,300,200,100};
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for(int i = 0; i< p_t_g.length; i++){
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Thread.sleep(t_t_s[i]);
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servoAccroche.setPosition(p_t_g[i]);
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telemetry.addData("puissance servo",servoAccroche.getPosition());
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}*/
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servoAccroche.setPosition(0.15);
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}
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else {
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/*double[] p_t_g = {0.3,0.325,0.35,0.375,0.4,0.425,0.45,0.5};
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int[] t_t_s = {100,100,100,100,100,200,200,100};
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for(int i = 0; i< p_t_g.length; i++){
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Thread.sleep(t_t_s[i]);
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servoAccroche.setPosition(p_t_g[i]);
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}*/
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servoAccroche.setPosition(0.5);
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}
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servoAccrocheEnRoute=!servoAccrocheEnRoute;
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dejavuA = true;
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}
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}
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else{
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dejavuA = false;
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}
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//bouton O
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if (gamepad1.b){
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if (!dejavuM){
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if (moissoneuseEnRoute){
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moissoneuse.setPower(-1);
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moissoneuse.setPower(-0.9);
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}
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else{
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else{
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moissoneuse.setPower(0);
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}
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moissoneuseEnRoute=!moissoneuseEnRoute;
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@ -85,13 +201,14 @@ public class WeRobot_FGC2023 extends LinearOpMode {
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else{
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dejavuM = false;
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}
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if (gamepad1.right_bumper){
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accroche.setPower(0.8);
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}
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else if (gamepad1.left_bumper)
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{
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// bouton vert
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if (gamepad1.a){
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accroche.setPower(-0.8);
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}
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// bouton X
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else if (gamepad1.y){
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accroche.setPower(0.8);
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}
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else {
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if (!modeFrein){
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accroche.setPower(0);
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@ -102,8 +219,18 @@ public class WeRobot_FGC2023 extends LinearOpMode {
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accroche.setPower(0.17);
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}
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puissanceMoissoneuse = moissoneuse.getPower();
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telemetry.addData("puissance moisso : ", puissanceMoissoneuse);
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telemetry.addData("dejavu :", dejavu);
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puissancePanier1 = panier1.getPower();
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puissancePanier2 = panier2.getPower();
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telemetry.addData("puissance moisso", puissanceMoissoneuse);
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telemetry.addData("angle servo", servoAccroche.getPosition());
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telemetry.addData("dejavu", dejavu);
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telemetry.addData("puissance panier1", puissancePanier1);
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telemetry.addData("puissance panier2", puissancePanier2);
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telemetry.addData("TUTORIEL","TUTORIEL");
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telemetry.addData("Stick Gauche","Translations");
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telemetry.addData("Stick Droit","Rotations");
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telemetry.addData("X","Descendre Crochet");
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telemetry.addData("Rond","Moissoneuse");
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}
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}
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}
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@ -112,11 +239,13 @@ class WRRobot{
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private DcMotor frm;
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private DcMotor blm;
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private DcMotor brm;
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public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm){
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private Gamepad gamepad1;
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public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm,Gamepad gamepad1){
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flm = cflm;
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frm = cfrm;
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blm = cblm;
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brm = cbrm;
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this.gamepad1 = gamepad1;
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}
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public void moves(float x, double y){
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double approx = 0.15;
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@ -144,7 +273,7 @@ class WRRobot{
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}
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public void diagonal(float x, double y){
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double pow = Math.abs(x+y)/2;
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double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
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if(x>0){
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if(y>0){
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// North East
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@ -166,7 +295,7 @@ class WRRobot{
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}
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}
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public void horizontal(float x){
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double pow = Math.abs(x);
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double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
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if(x>0){
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movement(new double[]{pow,pow,-pow,-pow});
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}else{
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@ -177,15 +306,15 @@ class WRRobot{
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}
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public void vertical(double y){
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double pow = Math.abs(y);
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double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
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if(y>0){
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movement(new double[]{pow,-pow,pow,-pow});
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movement(new double[]{pow,-pow,pow,-pow*1});
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}else{
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movement(new double[]{-pow,pow,-pow,pow});
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movement(new double[]{-pow,pow,-pow,pow*1});
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}
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}
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public void movement(double[] list){
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public void movement(double[] list){
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flm.setPower(list[0]);
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frm.setPower(list[1]);
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blm.setPower(list[2]);
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@ -198,15 +327,12 @@ class WRRobot{
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public void Rotation(float g2x){
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double approx = 0.15;
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boolean xnozero = (g2x<-approx || g2x>approx);
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double pow = Math.abs(g2x);
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double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
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if (!xnozero) return;
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if (g2x > 0) {
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movement(new double[]{pow,pow,pow,pow});
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} else {
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movement(new double[]{-pow,-pow,-pow,pow});
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movement(new double[]{-pow,-pow,-pow,-pow});
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}
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}
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}
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