From 79ec807735f1abd13581ea0b2e845e5531c875b2 Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sat, 23 Sep 2023 12:15:45 +0200
Subject: [PATCH] First Commit, creation of the code

---
 WeRobot-Code.java | 154 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 154 insertions(+)
 create mode 100644 WeRobot-Code.java

diff --git a/WeRobot-Code.java b/WeRobot-Code.java
new file mode 100644
index 0000000..0a75d64
--- /dev/null
+++ b/WeRobot-Code.java
@@ -0,0 +1,154 @@
+package org.firstinspires.ftc.teamcode;
+//package fr.gzod01.werobot.competition_singapour_2023;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+@TeleOp
+public class DualDrive extends LinearOpMode {
+  private DcMotor rightmotor;
+  private DcMotor leftmotor;
+
+  @Override
+  public void runOpMode() {
+        float x;
+        double y;
+	float g2x;
+	boolean ismoissonactive=false;
+	boolean a;
+	boolean y;
+	boolean preva =false;
+        flm = hardwareMap.get(DcMotor.class, "0");
+        frm = hardwareMap.get(DcMotor.class, "1");
+	blm = hardwareMap.get(DcMotor.class, "2");
+	brm = hardwareMap.get(DcMotor.class, "3");
+	moissonmotor = hardwareMap.get(DcMotor.class, "4");        
+	launchermotor = hardwareMap.get(DcMotor.class, "5");
+	mountmotor = hardwareMap.get(DcMotor.class, "6");
+        waitForStart();
+
+        while (opModeIsActive()) {
+            x = gamepad1.left_stick_x;
+            y = -gamepad1.left_stick_y;
+	    a = gamepad1.a; 
+	    gy = gamepad.y;
+	    if(a & !preva){
+		    ismoissonactive=!ismoissonactive;
+		    preva=true;
+	    }
+	    if(!a & preva){
+		    preva =false;
+	    }
+	    if(ismoissonactive){
+		    moissonmotor.setPower(1);
+	    }else{
+		    moissonmotor.setPower(0);
+	    }
+	    if(y){
+		    launchermotor.setPower(1);
+	    }else{
+		    launchermotor.setPower(0);
+	    }
+	    if (gamepad1.dpad_down){
+		    mountmotor.setPower(-1);
+	    }else if (gamepad1.dpad_up){
+		    mountmotor.setPower(1);
+	    }else{
+		    mountmotor.setPower(0);
+	    }
+
+		  
+	    g2x = gamepad1.right_stick_x; 
+            Robot.moves(x,y,flm, frm,blm,brm); 
+	    Robot.Rotation(g2x, flm, frm, blm, brm);
+        }
+    }
+}
+public class Robot{
+	public void moves(x,y,flm,frm,blm,brm){
+		float approx = 0.15;
+		boolean xnozero = (x<-approx || x>approx);
+		boolean ynozero = (y<-approx || y>approx);
+		
+		if((xnozero & ynozero) || (xnozero || ynozero)){
+			//DO TRANSLATIONS
+			if(xnozero){
+				if(ynozzero){
+					Robot.diagonal(x,y, flm,frm,blm,brm);	
+				}else{
+					Robot.horizontal(x,flm,frm,blm,brm);
+				}
+			}else{
+				Robot.vertical(y,flm,frm,blm,brm);
+			}
+		}
+		else{
+			// NO TRANSLATIONS BECAUSE 0 SO STOP
+			flm.setPower(0);
+			frm.setPower(0);
+			blm.setPower(0);
+			brm.setPower(0);
+		}
+
+	}
+	public void diagonal(x,y,flm,frm,blm,brm){
+		if(x>0){
+			if(y>0){
+				// North East
+				Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
+
+			}else{
+				//South East
+				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]);
+			}
+			else{
+				//South West
+				Robot.movement(flm,frm,blm,brm,[-1,0,0,-1]);
+			}
+		}
+	}
+	public void horizontal(x,flm,frm,blm,brm){
+		if(x>0){
+			Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
+		}else{
+			Robot.movement(flm,frm,blm,brm,[-1,1,1,-1]);
+		}
+
+			
+
+	}
+	public void vertical(y,flm,frm,blm,brm){
+		if(y>0){
+			Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
+		}else{
+			Robot.movement(flm,frm,blm,brm,[-1,-1,-1,-1]);
+		}
+
+	}
+	public void movement(flm,frm,blm,brm,list){
+		flm.setPower(list[0]);
+		frm.setPower(list[1]);
+		blm.setPower(list[2]);
+		brm.setPower(list[3]);
+	}
+	public void Rotations(g2x,flm,frm,blm,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]);
+			}else{
+				Robot.movement(flm,frm,blm,brm,[-1,1,-1,1]);
+			}
+		}
+	}
+
+		
+}