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feat:WeRobot-Code.java add the tools code

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Gzod01 2023-09-30 11:53:36 +02:00
parent 53b3747c82
commit 7c6a3c2034
2 changed files with 273 additions and 61 deletions
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177
WeRobot-Code-Robot-Movements.java Normal file
View file

@ -0,0 +1,177 @@
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;
@TeleOp(name="WeRobot: FGC2023", group="WeRobot")
public class WeRobot_FGC2023_GZod01 extends LinearOpMode {
private DcMotor flm;
private DcMotor frm;
private DcMotor brm;
private DcMotor blm;
private DcMotor moissonmotor;
private DcMotor launchermotor;
private DcMotor mountmotor;
@Override
public void runOpMode() {
float x;
double y;
float g2x;
boolean ismoissonactive=false;
boolean ga;
boolean gy;
boolean preva =false;
flm = hardwareMap.get(DcMotor.class, "flm");
frm = hardwareMap.get(DcMotor.class, "frm");
blm = hardwareMap.get(DcMotor.class, "blm");
brm = hardwareMap.get(DcMotor.class, "brm");
moissonmotor = hardwareMap.get(DcMotor.class, "msn");
launchermotor = hardwareMap.get(DcMotor.class, "lnc");
mountmotor = hardwareMap.get(DcMotor.class, "mnt");
WRRobot wr = new WRRobot(flm,frm,blm,brm);
waitForStart();
while (opModeIsActive()) {
x = gamepad1.left_stick_x;
y = -gamepad1.left_stick_y;
ga = gamepad1.a;
gy = gamepad1.y;
if(ga & !preva){
ismoissonactive=!ismoissonactive;
preva=true;
}
if(!ga & preva){
preva =false;
}
if(ismoissonactive){
moissonmotor.setPower(1);
}else{
moissonmotor.setPower(0);
}
if(gy){
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;
wr.moves(x,y );
wr.Rotation(g2x );
}
}
}
class WRRobot{
private DcMotor flm;
private DcMotor frm;
private DcMotor blm;
private DcMotor brm;
public WRRobot(DcMotor cflm,DcMotor cfrm,DcMotor cblm,DcMotor cbrm){
flm = cflm;
frm = cfrm;
blm = cblm;
brm = cbrm;
}
public void moves(float x, double y){
double approx = 0.15;
boolean xnozero = (x<-approx || x>approx);
boolean ynozero = (y<-approx || y>approx);
if(!(Math.abs(x)>approx || Math.abs(y)>approx)){
flm.setPower(0);
frm.setPower(0);
blm.setPower(0);
brm.setPower(0);
return;
}
//DO TRANSLATIONS
if(Math.abs(x)>approx){
if(Math.abs(y)>approx){
diagonal(x,y);
}else{
horizontal(x);
}
}else{
vertical(y);
}
}
public void diagonal(float x, double y){
double pow = Math.abs(x+y)/2;
if(x>0){
if(y>0){
// North East
movement(new double[]{pow,0,0,-pow});
}else{
//South East
movement(new double[]{0,pow,-pow,0});
}
}else{
if(y>0){
//North West
movement(new double[]{0,-pow,pow,0});
}
else{
//South West
movement(new double[]{-pow,0,0,pow});
}
}
}
public void horizontal(float x){
double pow = Math.abs(x);
if(x>0){
movement(new double[]{pow,pow,-pow,-pow});
}else{
movement(new double[]{-pow,-pow,pow,pow});
}
}
public void vertical(double y){
double pow = Math.abs(y);
if(y>0){
movement(new double[]{pow,-pow,pow,-pow});
}else{
movement(new double[]{-pow,pow,-pow,pow});
}
}
public void movement(double[] list){
flm.setPower(list[0]);
frm.setPower(list[1]);
blm.setPower(list[2]);
brm.setPower(list[3]);
}
/*
* @param g2x is the x coordinates of the right joystick
*/
public void Rotation(float g2x){
double approx = 0.15;
boolean xnozero = (g2x<-approx || g2x>approx);
double pow = Math.abs(g2x);
if (!xnozero) return;
if (g2x > 0) {
movement(new double[]{pow,pow,pow,pow});
} else {
movement(new double[]{-pow,-pow,-pow,pow});
}
}
}

113
WeRobot-Code.java
View file

@ -8,68 +8,102 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@TeleOp(name="WeRobot: FGC2023", group="WeRobot") @TeleOp(name="WeRobot: FGC2023", group="WeRobot")
public class WeRobot_FGC2023_GZod01 extends LinearOpMode { public class WeRobot_FGC2023 extends LinearOpMode {
private DcMotor flm; private DcMotor flm;
private DcMotor frm; private DcMotor frm;
private DcMotor brm; private DcMotor brm;
private DcMotor blm; private DcMotor blm;
private DcMotor moissonmotor; // OTHER THAN MOVES:
private DcMotor launchermotor; // lanceur = panier
private DcMotor mountmotor; private DcMotor lanceur = null;
private DcMotor moissoneuse = null;
private DcMotor accroche = null;
private double puissanceMoissoneuse = 0;
private boolean lanceurEnRoute = false;
private boolean dejavu = false;
private boolean modeFrein = false;
private boolean moissoneuseEnRoute = false;
private boolean dejavuM = false;
@Override @Override
public void runOpMode() { public void runOpMode() {
float x; float x;
double y; double y;
float g2x; float g2x;
boolean ismoissonactive=false; telemetry.addData("Status", "Initialized");
boolean ga; telemetry.update();
boolean gy;
boolean preva =false;
flm = hardwareMap.get(DcMotor.class, "flm"); flm = hardwareMap.get(DcMotor.class, "flm");
frm = hardwareMap.get(DcMotor.class, "frm"); frm = hardwareMap.get(DcMotor.class, "frm");
blm = hardwareMap.get(DcMotor.class, "blm"); blm = hardwareMap.get(DcMotor.class, "blm");
brm = hardwareMap.get(DcMotor.class, "brm"); brm = hardwareMap.get(DcMotor.class, "brm");
moissonmotor = hardwareMap.get(DcMotor.class, "msn"); // OTHER THAN MOVES:
launchermotor = hardwareMap.get(DcMotor.class, "lnc"); lanceur = hardwareMap.get(DcMotor.class, "lnc");
mountmotor = hardwareMap.get(DcMotor.class, "mnt"); moissoneuse = hardwareMap.get(DcMotor.class, "msn");
accroche = hardwareMap.get(DcMotor.class,"mnt");
accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
WRRobot wr = new WRRobot(flm,frm,blm,brm); WRRobot wr = new WRRobot(flm,frm,blm,brm);
waitForStart(); waitForStart();
while (opModeIsActive()) { while (opModeIsActive()) {
telemetry.addData("Status", "Running");
telemetry.update();
x = gamepad1.left_stick_x; x = gamepad1.left_stick_x;
y = -gamepad1.left_stick_y; y = -gamepad1.left_stick_y;
ga = gamepad1.a;
gy = gamepad1.y;
if(ga & !preva){
ismoissonactive=!ismoissonactive;
preva=true;
}
if(!ga & preva){
preva =false;
}
if(ismoissonactive){
moissonmotor.setPower(1);
}else{
moissonmotor.setPower(0);
}
if(gy){
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; g2x = gamepad1.right_stick_x;
wr.moves(x,y ); wr.moves(x,y );
wr.Rotation(g2x ); wr.Rotation(g2x );
// OTHER THAN MOVES:
// // bouton O
if (gamepad1.b){
if (!dejavu){
if (lanceurEnRoute){
lanceur.setPower(0.8);
}
else{
lanceur.setPower(0);
}
lanceurEnRoute=!lanceurEnRoute;
dejavu=true;
}
}
else{
dejavu = false;
}
//bouton X
if (gamepad1.a){
if (!dejavuM){
if (moissoneuseEnRoute){
moissoneuse.setPower(-1);
}
else{
moissoneuse.setPower(0);
}
moissoneuseEnRoute=!moissoneuseEnRoute;
dejavuM=true;
}
}
else{
dejavuM = false;
}
if (gamepad1.right_bumper){
accroche.setPower(0.8);
}
else if (gamepad1.left_bumper)
{
accroche.setPower(-0.8);
}
else {
if (!modeFrein){
accroche.setPower(0);
}
}
if (gamepad1.ps){
modeFrein = true;
accroche.setPower(0.17);
}
puissanceMoissoneuse = moissoneuse.getPower();
telemetry.addData("puissance moisso : ", puissanceMoissoneuse);
telemetry.addData("dejavu :", dejavu);
} }
} }
} }
@ -175,3 +209,4 @@ class WRRobot{
} }