Actualiser WeRobot-Code.java
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1 changed files with 120 additions and 120 deletions
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@ -2,6 +2,7 @@ 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 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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@ -20,141 +21,140 @@ public class DualDrive extends LinearOpMode {
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public void runOpMode() {
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float x;
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double y;
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float g2x;
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boolean ismoissonactive=false;
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boolean ga;
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boolean gy;
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boolean preva =false;
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float g2x;
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boolean ismoissonactive=false;
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boolean ga;
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boolean gy;
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boolean preva =false;
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flm = hardwareMap.get(DcMotor.class, "flm");
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frm = hardwareMap.get(DcMotor.class, "frm");
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blm = hardwareMap.get(DcMotor.class, "blm");
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brm = hardwareMap.get(DcMotor.class, "brm");
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moissonmotor = hardwareMap.get(DcMotor.class, "msn");
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launchermotor = hardwareMap.get(DcMotor.class, "lnc");
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mountmotor = hardwareMap.get(DcMotor.class, "mnt");
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blm = hardwareMap.get(DcMotor.class, "blm");
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brm = hardwareMap.get(DcMotor.class, "brm");
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moissonmotor = hardwareMap.get(DcMotor.class, "msn");
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launchermotor = hardwareMap.get(DcMotor.class, "lnc");
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mountmotor = hardwareMap.get(DcMotor.class, "mnt");
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waitForStart();
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while (opModeIsActive()) {
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x = gamepad1.left_stick_x;
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y = -gamepad1.left_stick_y;
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a = gamepad1.a;
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gy = gamepad1.y;
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if(a & !preva){
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ismoissonactive=!ismoissonactive;
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preva=true;
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}
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if(!a & preva){
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preva =false;
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}
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if(ismoissonactive){
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moissonmotor.setPower(1);
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}else{
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moissonmotor.setPower(0);
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}
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if(y){
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launchermotor.setPower(1);
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}else{
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launchermotor.setPower(0);
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}
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if (gamepad1.dpad_down){
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mountmotor.setPower(-1);
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}else if (gamepad1.dpad_up){
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mountmotor.setPower(1);
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}else{
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mountmotor.setPower(0);
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}
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a = gamepad1.a;
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gy = gamepad1.y;
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if(a & !preva){
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ismoissonactive=!ismoissonactive;
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preva=true;
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}
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if(!a & preva){
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preva =false;
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}
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if(ismoissonactive){
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moissonmotor.setPower(1);
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}else{
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moissonmotor.setPower(0);
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}
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if(y){
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launchermotor.setPower(1);
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}else{
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launchermotor.setPower(0);
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}
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if (gamepad1.dpad_down){
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mountmotor.setPower(-1);
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}else if (gamepad1.dpad_up){
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mountmotor.setPower(1);
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}else{
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mountmotor.setPower(0);
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}
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g2x = gamepad1.right_stick_x;
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g2x = gamepad1.right_stick_x;
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Robot.moves(x,y,flm, frm,blm,brm);
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Robot.Rotation(g2x, flm, frm, blm, brm);
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Robot.Rotation(g2x, flm, frm, blm, brm);
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}
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}
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}
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public class Robot{
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public void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
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float approx = 0.15;
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boolean xnozero = (x<-approx || x>approx);
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boolean ynozero = (y<-approx || y>approx);
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public static void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
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float approx = 0.15;
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boolean xnozero = (x<-approx || x>approx);
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boolean ynozero = (y<-approx || y>approx);
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if((xnozero & ynozero) || (xnozero || ynozero)){
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//DO TRANSLATIONS
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if(xnozero){
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if(ynozzero){
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Robot.diagonal(x,y, flm,frm,blm,brm);
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}else{
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Robot.horizontal(x,flm,frm,blm,brm);
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}
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}else{
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Robot.vertical(y,flm,frm,blm,brm);
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}
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}
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else{
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// NO TRANSLATIONS BECAUSE 0 SO STOP
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flm.setPower(0);
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frm.setPower(0);
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blm.setPower(0);
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brm.setPower(0);
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}
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if((xnozero & ynozero) || (xnozero || ynozero)){
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//DO TRANSLATIONS
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if(xnozero){
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if(ynozzero){
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Robot.diagonal(x,y, flm,frm,blm,brm);
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}else{
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Robot.horizontal(x,flm,frm,blm,brm);
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}
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}else{
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Robot.vertical(y,flm,frm,blm,brm);
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}
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}
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else{
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// NO TRANSLATIONS BECAUSE 0 SO STOP
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flm.setPower(0);
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frm.setPower(0);
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blm.setPower(0);
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brm.setPower(0);
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}
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}
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public void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
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if(x>0){
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if(y>0){
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// North East
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Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
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}
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public static void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
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if(x>0){
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if(y>0){
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// North East
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Robot.movement(flm,frm,blm,brm,{1,0,0,1});
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}
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else{
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//South East
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Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]);
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}
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}else{
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if(y>0){
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//North West
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Robot.movement(flm,frm,blm,brm,[0,1,1,0]);
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}
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else{
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//South West
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Robot.movement(flm,frm,blm,brm,[-1,0,0,-1]);
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}
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}
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}
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public void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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if(x>0){
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Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
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}else{
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Robot.movement(flm,frm,blm,brm,[-1,1,1,-1]);
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}
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}else{
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//South East
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Robot.movement(flm,frm,blm,brm,{0,-1,-1,0});
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}
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}else{
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if(y>0){
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//North West
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Robot.movement(flm,frm,blm,brm,{0,1,1,0});
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}
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else{
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//South West
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Robot.movement(flm,frm,blm,brm,{-1,0,0,-1});
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}
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}
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}
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public static void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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if(x>0){
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Robot.movement(flm,frm,blm,brm,{1,-1,-1,1});
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}else{
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Robot.movement(flm,frm,blm,brm,;{-1,1,1,-1});
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}
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}
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public void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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if(y>0){
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Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
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}else{
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Robot.movement(flm,frm,blm,brm,[-1,-1,-1,-1]);
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}
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}
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public static void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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if(y>0){
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Robot.movement(flm,frm,blm,brm,{1,1,1,1});
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}else{
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Robot.movement(flm,frm,blm,brm,{-1,-1,-1,-1});
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}
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}
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public void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] 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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brm.setPower(list[3]);
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}
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public void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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float approx = 0.15;
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boolean xnozero = (g2x<-approx || g2x>approx);
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if(xnozero){
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if(x>0){
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Robot.movement(flm,frm,blm,brm,[1,-1,1,-1]);
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}else{
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Robot.movement(flm,frm,blm,brm,[-1,1,-1,1]);
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}
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}
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}
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}
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public static void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] 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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brm.setPower(list[3]);
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}
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public static void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
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float approx = 0.15;
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boolean xnozero = (g2x<-approx || g2x>approx);
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if(xnozero){
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if(x>0){
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Robot.movement(flm,frm,blm,brm,{1,-1,1,-1});
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}else{
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Robot.movement(flm,frm,blm,brm,{-1,1,-1,1});
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}
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}
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}
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}
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