Actualiser WeRobot-Code.java
This commit is contained in:
parent
8a27cf2942
commit
362332b6a5
|
|
@ -2,10 +2,14 @@ package org.firstinspires.ftc.teamcode;
|
|||
//package fr.gzod01.werobot.competition_singapour_2023;
|
||||
|
||||
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
|
||||
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;
|
||||
|
||||
@TeleOp(name="WeRobot: FGC2023", group="WeRobot")
|
||||
public class WeRobot_FGC2023 extends LinearOpMode {
|
||||
|
|
@ -15,18 +19,32 @@ public class WeRobot_FGC2023 extends LinearOpMode {
|
|||
private DcMotor blm;
|
||||
// OTHER THAN MOVES:
|
||||
// lanceur = panier
|
||||
private DcMotor lanceur = null;
|
||||
private DcMotorEx panier1 = null;
|
||||
private DcMotorEx panier2 = null;
|
||||
private DcMotor moissoneuse = null;
|
||||
private DcMotor accroche = null;
|
||||
private Servo servoAccroche = null;
|
||||
private Servo servoPanier = null;
|
||||
private double puissanceMoissoneuse = 0;
|
||||
private boolean lanceurEnRoute = false;
|
||||
private boolean panierEnRoute = false;
|
||||
private boolean dejavu = false;
|
||||
private boolean dejavulb = false;
|
||||
private boolean dejavudl = false;
|
||||
private boolean dejavudr = false;
|
||||
private boolean modeFrein = false;
|
||||
private boolean moissoneuseEnRoute = false;
|
||||
private boolean servoAccrocheEnRoute = true;
|
||||
private boolean dejavuM = false;
|
||||
private boolean dejavuA = false;
|
||||
private boolean dejavudown = false;
|
||||
private boolean panierDescendu = false;
|
||||
private double puissancePanier1 = 0;
|
||||
private double puissancePanier2 = 0;
|
||||
private int targetPos;
|
||||
private Long targetPosLong;
|
||||
|
||||
@Override
|
||||
public void runOpMode() {
|
||||
public void runOpMode() throws InterruptedException {
|
||||
float x;
|
||||
double y;
|
||||
float g2x;
|
||||
|
|
@ -37,13 +55,25 @@ public class WeRobot_FGC2023 extends LinearOpMode {
|
|||
blm = hardwareMap.get(DcMotor.class, "blm");
|
||||
brm = hardwareMap.get(DcMotor.class, "brm");
|
||||
// OTHER THAN MOVES:
|
||||
lanceur = hardwareMap.get(DcMotor.class, "lnc");
|
||||
panier1 = (DcMotorEx) hardwareMap.get(DcMotorEx.class, "pn1");
|
||||
panier2 = (DcMotorEx) hardwareMap.get(DcMotorEx.class, "pn2");
|
||||
|
||||
panier2.setDirection(DcMotorSimple.Direction.REVERSE);
|
||||
|
||||
panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
panier2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
|
||||
moissoneuse = hardwareMap.get(DcMotor.class, "msn");
|
||||
accroche = hardwareMap.get(DcMotor.class,"mnt");
|
||||
servoAccroche = hardwareMap.get(Servo.class, "servomnt");
|
||||
servoPanier = hardwareMap.get(Servo.class, "servobascule");
|
||||
accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
|
||||
WRRobot wr = new WRRobot(flm,frm,blm,brm);
|
||||
WRRobot wr = new WRRobot(flm,frm,blm,brm,gamepad1);
|
||||
servoPanier.setPosition(0.5);
|
||||
servoAccroche.setPosition(0.5);
|
||||
waitForStart();
|
||||
|
||||
|
||||
|
||||
while (opModeIsActive()) {
|
||||
telemetry.addData("Status", "Running");
|
||||
telemetry.update();
|
||||
|
|
@ -53,29 +83,115 @@ public class WeRobot_FGC2023 extends LinearOpMode {
|
|||
wr.moves(x,y );
|
||||
wr.Rotation(g2x );
|
||||
// OTHER THAN MOVES:
|
||||
// // bouton O
|
||||
if (gamepad1.b){
|
||||
if (gamepad1.dpad_up){
|
||||
if (!dejavu){
|
||||
if (lanceurEnRoute){
|
||||
lanceur.setPower(0.8);
|
||||
}
|
||||
else{
|
||||
lanceur.setPower(0);
|
||||
}
|
||||
lanceurEnRoute=!lanceurEnRoute;
|
||||
// tick par seconde
|
||||
|
||||
// panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
// panier2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
|
||||
|
||||
panier1.setVelocity(600);
|
||||
panier2.setVelocity(600);
|
||||
|
||||
// 288 ticks par tour
|
||||
targetPosLong = (Long) Math.round(288*8.5);
|
||||
telemetry.addData("Long Pos : ", targetPosLong);
|
||||
|
||||
targetPos = targetPosLong.intValue();
|
||||
panier1.setTargetPosition(targetPos);
|
||||
panier2.setTargetPosition(targetPos);
|
||||
panier2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
panier1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
|
||||
// while (panier1.isBusy()){
|
||||
// targetPos = panier1.getCurrentPosition();
|
||||
|
||||
|
||||
// }
|
||||
|
||||
telemetry.addData("New code :","isOK");
|
||||
|
||||
|
||||
|
||||
panierEnRoute=!panierEnRoute;
|
||||
dejavu=true;
|
||||
}
|
||||
}
|
||||
else{
|
||||
dejavu = false;
|
||||
dejavu=false;
|
||||
}
|
||||
//bouton X
|
||||
if (gamepad1.a){
|
||||
if (gamepad1.dpad_down){
|
||||
if (!dejavudown){
|
||||
panier1.setVelocity(75);
|
||||
panier2.setVelocity(75);
|
||||
targetPosLong = (Long) Math.round(288*2.5);
|
||||
targetPos = targetPosLong.intValue();
|
||||
panier1.setTargetPosition(targetPos);
|
||||
panier2.setTargetPosition(targetPos);
|
||||
dejavudown = true;
|
||||
}
|
||||
}
|
||||
else{
|
||||
dejavudown = false;
|
||||
}
|
||||
|
||||
if (gamepad1.left_bumper){
|
||||
if(!dejavulb){
|
||||
double[] positions_to_go = {0.5,0.6,0.7,0.8,0.825,0.85,0.875,0.9,0.95,1};
|
||||
int[] times_to_sleep = { 100,100,100,200,200,200,200,200,200,200,200,200,200,200};
|
||||
for(int i= 0; i < positions_to_go.length; i++){
|
||||
Thread.sleep(times_to_sleep[i]);
|
||||
servoPanier.setPosition(positions_to_go[i]);
|
||||
}
|
||||
dejavulb = true;
|
||||
}
|
||||
dejavulb = false;
|
||||
}
|
||||
|
||||
//boutton rose
|
||||
if(gamepad1.x){
|
||||
if(!dejavudl){
|
||||
servoPanier.setPosition(0.37);
|
||||
dejavudl = true;
|
||||
}
|
||||
dejavudl = false;
|
||||
}
|
||||
|
||||
if (gamepad1.right_bumper){
|
||||
if (!dejavuA){
|
||||
if (servoAccrocheEnRoute){
|
||||
/*double[] p_t_g = {0.55,0.5,0.45,0.4,0.35,0.3,0.275,0.2625,0.25,0.24};
|
||||
int[] t_t_s = {100,100,100,100,100,100,300,300,200,100};
|
||||
for(int i = 0; i< p_t_g.length; i++){
|
||||
Thread.sleep(t_t_s[i]);
|
||||
servoAccroche.setPosition(p_t_g[i]);
|
||||
telemetry.addData("puissance servo",servoAccroche.getPosition());
|
||||
}*/
|
||||
servoAccroche.setPosition(0.15);
|
||||
|
||||
}
|
||||
else {
|
||||
/*double[] p_t_g = {0.3,0.325,0.35,0.375,0.4,0.425,0.45,0.5};
|
||||
int[] t_t_s = {100,100,100,100,100,200,200,100};
|
||||
for(int i = 0; i< p_t_g.length; i++){
|
||||
Thread.sleep(t_t_s[i]);
|
||||
servoAccroche.setPosition(p_t_g[i]);
|
||||
}*/
|
||||
servoAccroche.setPosition(0.5);
|
||||
}
|
||||
servoAccrocheEnRoute=!servoAccrocheEnRoute;
|
||||
dejavuA = true;
|
||||
}
|
||||
}
|
||||
else{
|
||||
dejavuA = false;
|
||||
}
|
||||
//bouton O
|
||||
if (gamepad1.b){
|
||||
if (!dejavuM){
|
||||
if (moissoneuseEnRoute){
|
||||
moissoneuse.setPower(-1);
|
||||
moissoneuse.setPower(-0.9);
|
||||
}
|
||||
else{
|
||||
else{
|
||||
moissoneuse.setPower(0);
|
||||
}
|
||||
moissoneuseEnRoute=!moissoneuseEnRoute;
|
||||
|
|
@ -85,13 +201,14 @@ public class WeRobot_FGC2023 extends LinearOpMode {
|
|||
else{
|
||||
dejavuM = false;
|
||||
}
|
||||
if (gamepad1.right_bumper){
|
||||
accroche.setPower(0.8);
|
||||
}
|
||||
else if (gamepad1.left_bumper)
|
||||
{
|
||||
// bouton vert
|
||||
if (gamepad1.a){
|
||||
accroche.setPower(-0.8);
|
||||
}
|
||||
// bouton X
|
||||
else if (gamepad1.y){
|
||||
accroche.setPower(0.8);
|
||||
}
|
||||
else {
|
||||
if (!modeFrein){
|
||||
accroche.setPower(0);
|
||||
|
|
@ -102,8 +219,18 @@ public class WeRobot_FGC2023 extends LinearOpMode {
|
|||
accroche.setPower(0.17);
|
||||
}
|
||||
puissanceMoissoneuse = moissoneuse.getPower();
|
||||
telemetry.addData("puissance moisso : ", puissanceMoissoneuse);
|
||||
telemetry.addData("dejavu :", dejavu);
|
||||
puissancePanier1 = panier1.getPower();
|
||||
puissancePanier2 = panier2.getPower();
|
||||
telemetry.addData("puissance moisso", puissanceMoissoneuse);
|
||||
telemetry.addData("angle servo", servoAccroche.getPosition());
|
||||
telemetry.addData("dejavu", dejavu);
|
||||
telemetry.addData("puissance panier1", puissancePanier1);
|
||||
telemetry.addData("puissance panier2", puissancePanier2);
|
||||
telemetry.addData("TUTORIEL","TUTORIEL");
|
||||
telemetry.addData("Stick Gauche","Translations");
|
||||
telemetry.addData("Stick Droit","Rotations");
|
||||
telemetry.addData("X","Descendre Crochet");
|
||||
telemetry.addData("Rond","Moissoneuse");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -112,11 +239,13 @@ class WRRobot{
|
|||
private DcMotor frm;
|
||||
private DcMotor blm;
|
||||
private DcMotor brm;
|
||||
public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm){
|
||||
private Gamepad gamepad1;
|
||||
public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm,Gamepad gamepad1){
|
||||
flm = cflm;
|
||||
frm = cfrm;
|
||||
blm = cblm;
|
||||
brm = cbrm;
|
||||
this.gamepad1 = gamepad1;
|
||||
}
|
||||
public void moves(float x, double y){
|
||||
double approx = 0.15;
|
||||
|
|
@ -144,7 +273,7 @@ class WRRobot{
|
|||
|
||||
}
|
||||
public void diagonal(float x, double y){
|
||||
double pow = Math.abs(x+y)/2;
|
||||
double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
|
||||
if(x>0){
|
||||
if(y>0){
|
||||
// North East
|
||||
|
|
@ -166,7 +295,7 @@ class WRRobot{
|
|||
}
|
||||
}
|
||||
public void horizontal(float x){
|
||||
double pow = Math.abs(x);
|
||||
double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
|
||||
if(x>0){
|
||||
movement(new double[]{pow,pow,-pow,-pow});
|
||||
}else{
|
||||
|
|
@ -177,15 +306,15 @@ class WRRobot{
|
|||
|
||||
}
|
||||
public void vertical(double y){
|
||||
double pow = Math.abs(y);
|
||||
double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
|
||||
if(y>0){
|
||||
movement(new double[]{pow,-pow,pow,-pow});
|
||||
movement(new double[]{pow,-pow,pow,-pow*1});
|
||||
}else{
|
||||
movement(new double[]{-pow,pow,-pow,pow});
|
||||
movement(new double[]{-pow,pow,-pow,pow*1});
|
||||
}
|
||||
|
||||
}
|
||||
public void movement(double[] list){
|
||||
public void movement(double[] list){
|
||||
flm.setPower(list[0]);
|
||||
frm.setPower(list[1]);
|
||||
blm.setPower(list[2]);
|
||||
|
|
@ -198,15 +327,12 @@ class WRRobot{
|
|||
public void Rotation(float g2x){
|
||||
double approx = 0.15;
|
||||
boolean xnozero = (g2x<-approx || g2x>approx);
|
||||
double pow = Math.abs(g2x);
|
||||
double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
|
||||
if (!xnozero) return;
|
||||
if (g2x > 0) {
|
||||
movement(new double[]{pow,pow,pow,pow});
|
||||
} else {
|
||||
movement(new double[]{-pow,-pow,-pow,pow});
|
||||
movement(new double[]{-pow,-pow,-pow,-pow});
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue