werobot/fgc2023-robotcode
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Actualiser WeRobot-Code.java

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Gzod01 2023-09-26 16:06:06 +00:00
parent d5c1752a63
commit 71fd015dc6
1 changed files with 11 additions and 11 deletions
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22
WeRobot-Code.java
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@ -8,7 +8,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@TeleOp(name="WeRobot: FGC2023 OpMode", group="WeRobot") @TeleOp(name="WeRobot: FGC2023 OpMode", group="WeRobot")
public class DualDrive extends LinearOpMode { public class WeRobot_FGC2023_GZod01 extends LinearOpMode {
private DcMotor flm; private DcMotor flm;
private DcMotor frm; private DcMotor frm;
private DcMotor brm; private DcMotor brm;
@ -38,13 +38,13 @@ public class DualDrive extends LinearOpMode {
while (opModeIsActive()) { while (opModeIsActive()) {
x = gamepad1.left_stick_x; x = gamepad1.left_stick_x;
y = -gamepad1.left_stick_y; y = -gamepad1.left_stick_y;
a = gamepad1.a; ga = gamepad1.a;
gy = gamepad1.y; gy = gamepad1.y;
if(a & !preva){ if(ga & !preva){
ismoissonactive=!ismoissonactive; ismoissonactive=!ismoissonactive;
preva=true; preva=true;
} }
if(!a & preva){ if(!ga & preva){
preva =false; preva =false;
} }
if(ismoissonactive){ if(ismoissonactive){
@ -52,7 +52,7 @@ public class DualDrive extends LinearOpMode {
}else{ }else{
moissonmotor.setPower(0); moissonmotor.setPower(0);
} }
if(y){ if(gy){
launchermotor.setPower(1); launchermotor.setPower(1);
}else{ }else{
launchermotor.setPower(0); launchermotor.setPower(0);
@ -72,16 +72,16 @@ public class DualDrive extends LinearOpMode {
} }
} }
} }
public class WRRobot{ class WRRobot{
public static 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; double approx = 0.15;
boolean xnozero = (x<-approx || x>approx); boolean xnozero = (x<-approx || x>approx);
boolean ynozero = (y<-approx || y>approx); boolean ynozero = (y<-approx || y>approx);
if((xnozero & ynozero) || (xnozero || ynozero)){ if((xnozero & ynozero) || (xnozero || ynozero)){
//DO TRANSLATIONS //DO TRANSLATIONS
if(xnozero){ if(xnozero){
if(ynozzero){ if(ynozero){
WRRobot.diagonal(x,y, flm,frm,blm,brm); WRRobot.diagonal(x,y, flm,frm,blm,brm);
}else{ }else{
WRRobot.horizontal(x,flm,frm,blm,brm); WRRobot.horizontal(x,flm,frm,blm,brm);
@ -144,11 +144,11 @@ public class WRRobot{
blm.setPower(list[2]); blm.setPower(list[2]);
brm.setPower(list[3]); brm.setPower(list[3]);
} }
public static void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){ public static void Rotation(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
float approx = 0.15; double approx = 0.15;
boolean xnozero = (g2x<-approx || g2x>approx); boolean xnozero = (g2x<-approx || g2x>approx);
if(xnozero){ if(xnozero){
if(x>0){ if(g2x>0){
WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,1,-1}); WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,1,-1});
}else{ }else{
WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,-1,1}); WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,-1,1});