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Actualiser WeRobot-Code.java

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Gzod01 2023-10-07 09:41:04 +00:00
parent 8a27cf2942
commit 362332b6a5
1 changed files with 165 additions and 39 deletions
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WeRobot-Code.java
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@ -2,10 +2,14 @@ package org.firstinspires.ftc.teamcode;
//package fr.gzod01.werobot.competition_singapour_2023; //package fr.gzod01.werobot.competition_singapour_2023;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; 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.robot.Robot;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@TeleOp(name="WeRobot: FGC2023", group="WeRobot") @TeleOp(name="WeRobot: FGC2023", group="WeRobot")
public class WeRobot_FGC2023 extends LinearOpMode { public class WeRobot_FGC2023 extends LinearOpMode {
@ -15,18 +19,32 @@ public class WeRobot_FGC2023 extends LinearOpMode {
private DcMotor blm; private DcMotor blm;
// OTHER THAN MOVES: // OTHER THAN MOVES:
// lanceur = panier // lanceur = panier
private DcMotor lanceur = null; private DcMotorEx panier1 = null;
private DcMotorEx panier2 = null;
private DcMotor moissoneuse = null; private DcMotor moissoneuse = null;
private DcMotor accroche = null; private DcMotor accroche = null;
private Servo servoAccroche = null;
private Servo servoPanier = null;
private double puissanceMoissoneuse = 0; private double puissanceMoissoneuse = 0;
private boolean lanceurEnRoute = false; private boolean panierEnRoute = false;
private boolean dejavu = false; private boolean dejavu = false;
private boolean dejavulb = false;
private boolean dejavudl = false;
private boolean dejavudr = false;
private boolean modeFrein = false; private boolean modeFrein = false;
private boolean moissoneuseEnRoute = false; private boolean moissoneuseEnRoute = false;
private boolean servoAccrocheEnRoute = true;
private boolean dejavuM = false; 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 @Override
public void runOpMode() { public void runOpMode() throws InterruptedException {
float x; float x;
double y; double y;
float g2x; float g2x;
@ -37,13 +55,25 @@ public class WeRobot_FGC2023 extends LinearOpMode {
blm = hardwareMap.get(DcMotor.class, "blm"); blm = hardwareMap.get(DcMotor.class, "blm");
brm = hardwareMap.get(DcMotor.class, "brm"); brm = hardwareMap.get(DcMotor.class, "brm");
// OTHER THAN MOVES: // 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"); moissoneuse = hardwareMap.get(DcMotor.class, "msn");
accroche = hardwareMap.get(DcMotor.class,"mnt"); accroche = hardwareMap.get(DcMotor.class,"mnt");
servoAccroche = hardwareMap.get(Servo.class, "servomnt");
servoPanier = hardwareMap.get(Servo.class, "servobascule");
accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); 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(); waitForStart();
while (opModeIsActive()) { while (opModeIsActive()) {
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
telemetry.update(); telemetry.update();
@ -53,29 +83,115 @@ public class WeRobot_FGC2023 extends LinearOpMode {
wr.moves(x,y ); wr.moves(x,y );
wr.Rotation(g2x ); wr.Rotation(g2x );
// OTHER THAN MOVES: // OTHER THAN MOVES:
// // bouton O if (gamepad1.dpad_up){
if (gamepad1.b){
if (!dejavu){ if (!dejavu){
if (lanceurEnRoute){ // tick par seconde
lanceur.setPower(0.8);
} // panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
else{ // panier2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
lanceur.setPower(0);
} panier1.setVelocity(600);
lanceurEnRoute=!lanceurEnRoute; 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; dejavu=true;
} }
} }
else{ else{
dejavu = false; dejavu=false;
} }
//bouton X if (gamepad1.dpad_down){
if (gamepad1.a){ 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 (!dejavuM){
if (moissoneuseEnRoute){ if (moissoneuseEnRoute){
moissoneuse.setPower(-1); moissoneuse.setPower(-0.9);
} }
else{ else{
moissoneuse.setPower(0); moissoneuse.setPower(0);
} }
moissoneuseEnRoute=!moissoneuseEnRoute; moissoneuseEnRoute=!moissoneuseEnRoute;
@ -85,13 +201,14 @@ public class WeRobot_FGC2023 extends LinearOpMode {
else{ else{
dejavuM = false; dejavuM = false;
} }
if (gamepad1.right_bumper){ // bouton vert
accroche.setPower(0.8); if (gamepad1.a){
}
else if (gamepad1.left_bumper)
{
accroche.setPower(-0.8); accroche.setPower(-0.8);
} }
// bouton X
else if (gamepad1.y){
accroche.setPower(0.8);
}
else { else {
if (!modeFrein){ if (!modeFrein){
accroche.setPower(0); accroche.setPower(0);
@ -102,8 +219,18 @@ public class WeRobot_FGC2023 extends LinearOpMode {
accroche.setPower(0.17); accroche.setPower(0.17);
} }
puissanceMoissoneuse = moissoneuse.getPower(); puissanceMoissoneuse = moissoneuse.getPower();
telemetry.addData("puissance moisso : ", puissanceMoissoneuse); puissancePanier1 = panier1.getPower();
telemetry.addData("dejavu :", dejavu); 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 frm;
private DcMotor blm; private DcMotor blm;
private DcMotor brm; 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; flm = cflm;
frm = cfrm; frm = cfrm;
blm = cblm; blm = cblm;
brm = cbrm; brm = cbrm;
this.gamepad1 = gamepad1;
} }
public void moves(float x, double y){ public void moves(float x, double y){
double approx = 0.15; double approx = 0.15;
@ -144,7 +273,7 @@ class WRRobot{
} }
public void diagonal(float x, double y){ 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(x>0){
if(y>0){ if(y>0){
// North East // North East
@ -166,7 +295,7 @@ class WRRobot{
} }
} }
public void horizontal(float x){ 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){ if(x>0){
movement(new double[]{pow,pow,-pow,-pow}); movement(new double[]{pow,pow,-pow,-pow});
}else{ }else{
@ -177,15 +306,15 @@ class WRRobot{
} }
public void vertical(double y){ 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){ if(y>0){
movement(new double[]{pow,-pow,pow,-pow}); movement(new double[]{pow,-pow,pow,-pow*1});
}else{ }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]); flm.setPower(list[0]);
frm.setPower(list[1]); frm.setPower(list[1]);
blm.setPower(list[2]); blm.setPower(list[2]);
@ -198,15 +327,12 @@ class WRRobot{
public void Rotation(float g2x){ public void Rotation(float g2x){
double approx = 0.15; double approx = 0.15;
boolean xnozero = (g2x<-approx || g2x>approx); 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 (!xnozero) return;
if (g2x > 0) { if (g2x > 0) {
movement(new double[]{pow,pow,pow,pow}); movement(new double[]{pow,pow,pow,pow});
} else { } else {
movement(new double[]{-pow,-pow,-pow,pow}); movement(new double[]{-pow,-pow,-pow,-pow});
} }
} }
} }