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Actualiser WeRobot-Code.java

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Gzod01 2023-09-26 15:55:37 +00:00
parent 807649c996
commit 65844de4cb
1 changed files with 120 additions and 120 deletions
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36
WeRobot-Code.java
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@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode;
//package fr.gzod01.werobot.competition_singapour_2023;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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;
@ -72,7 +73,7 @@ public class DualDrive extends LinearOpMode {
}
}
public class Robot{
public void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
public static void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
float approx = 0.15;
boolean xnozero = (x<-approx || x>approx);
boolean ynozero = (y<-approx || y>approx);
@ -98,60 +99,59 @@ public class Robot{
}
}
public void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
public static void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
if(x>0){
if(y>0){
// North East
Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
Robot.movement(flm,frm,blm,brm,{1,0,0,1});
}
else{
}else{
//South East
Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]);
Robot.movement(flm,frm,blm,brm,{0,-1,-1,0});
}
}else{
if(y>0){
//North West
Robot.movement(flm,frm,blm,brm,[0,1,1,0]);
Robot.movement(flm,frm,blm,brm,{0,1,1,0});
}
else{
//South West
Robot.movement(flm,frm,blm,brm,[-1,0,0,-1]);
Robot.movement(flm,frm,blm,brm,{-1,0,0,-1});
}
}
}
public void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
public static void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(x>0){
Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
Robot.movement(flm,frm,blm,brm,{1,-1,-1,1});
}else{
Robot.movement(flm,frm,blm,brm,[-1,1,1,-1]);
Robot.movement(flm,frm,blm,brm,;{-1,1,1,-1});
}
}
public void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
public static void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(y>0){
Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
Robot.movement(flm,frm,blm,brm,{1,1,1,1});
}else{
Robot.movement(flm,frm,blm,brm,[-1,-1,-1,-1]);
Robot.movement(flm,frm,blm,brm,{-1,-1,-1,-1});
}
}
public void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
public static void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
flm.setPower(list[0]);
frm.setPower(list[1]);
blm.setPower(list[2]);
brm.setPower(list[3]);
}
public void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
public static void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
float approx = 0.15;
boolean xnozero = (g2x<-approx || g2x>approx);
if(xnozero){
if(x>0){
Robot.movement(flm,frm,blm,brm,[1,-1,1,-1]);
Robot.movement(flm,frm,blm,brm,{1,-1,1,-1});
}else{
Robot.movement(flm,frm,blm,brm,[-1,1,-1,1]);
Robot.movement(flm,frm,blm,brm,{-1,1,-1,1});
}
}
}