werobot/fgc2023-robotcode
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Modification, quelques nouveautés, dernière version du code!

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This commit is contained in:
Gzod01 2023-10-08 06:09:01 +00:00
parent 362332b6a5
commit a584d3b8e7
1 changed files with 27 additions and 16 deletions
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41
WeRobot-Code.java
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@ -42,6 +42,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
private double puissancePanier2 = 0; private double puissancePanier2 = 0;
private int targetPos; private int targetPos;
private Long targetPosLong; private Long targetPosLong;
private boolean servoPanierActivated = false;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@ -70,7 +71,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); accroche.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
WRRobot wr = new WRRobot(flm,frm,blm,brm,gamepad1); WRRobot wr = new WRRobot(flm,frm,blm,brm,gamepad1);
servoPanier.setPosition(0.5); servoPanier.setPosition(0.5);
servoAccroche.setPosition(0.5); servoAccroche.setPosition(0.42);
waitForStart(); waitForStart();
@ -84,7 +85,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
wr.Rotation(g2x ); wr.Rotation(g2x );
// OTHER THAN MOVES: // OTHER THAN MOVES:
if (gamepad1.dpad_up){ if (gamepad1.dpad_up){
if (!dejavu){ if (!dejavu && !servoAccrocheEnRoute){
// tick par seconde // tick par seconde
// panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); // panier1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@ -112,7 +113,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
panierEnRoute=!panierEnRoute; panierEnRoute=true;
dejavu=true; dejavu=true;
} }
} }
@ -120,7 +121,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
dejavu=false; dejavu=false;
} }
if (gamepad1.dpad_down){ if (gamepad1.dpad_down){
if (!dejavudown){ if (!dejavudown && !servoPanierActivated){
panier1.setVelocity(75); panier1.setVelocity(75);
panier2.setVelocity(75); panier2.setVelocity(75);
targetPosLong = (Long) Math.round(288*2.5); targetPosLong = (Long) Math.round(288*2.5);
@ -143,6 +144,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
servoPanier.setPosition(positions_to_go[i]); servoPanier.setPosition(positions_to_go[i]);
} }
dejavulb = true; dejavulb = true;
servoPanierActivated = true;
} }
dejavulb = false; dejavulb = false;
} }
@ -150,8 +152,9 @@ public class WeRobot_FGC2023 extends LinearOpMode {
//boutton rose //boutton rose
if(gamepad1.x){ if(gamepad1.x){
if(!dejavudl){ if(!dejavudl){
servoPanier.setPosition(0.37); servoPanier.setPosition(0.32);
dejavudl = true; dejavudl = true;
servoPanierActivated=false;
} }
dejavudl = false; dejavudl = false;
} }
@ -169,7 +172,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
servoAccroche.setPosition(0.15); servoAccroche.setPosition(0.15);
} }
else { else if(!panierEnRoute) {
/*double[] p_t_g = {0.3,0.325,0.35,0.375,0.4,0.425,0.45,0.5}; /*double[] p_t_g = {0.3,0.325,0.35,0.375,0.4,0.425,0.45,0.5};
int[] t_t_s = {100,100,100,100,100,200,200,100}; int[] t_t_s = {100,100,100,100,100,200,200,100};
for(int i = 0; i< p_t_g.length; i++){ for(int i = 0; i< p_t_g.length; i++){
@ -206,7 +209,7 @@ public class WeRobot_FGC2023 extends LinearOpMode {
accroche.setPower(-0.8); accroche.setPower(-0.8);
} }
// bouton X // bouton X
else if (gamepad1.y){ else if (gamepad1.y && !servoAccrocheEnRoute){
accroche.setPower(0.8); accroche.setPower(0.8);
} }
else { else {
@ -221,16 +224,24 @@ public class WeRobot_FGC2023 extends LinearOpMode {
puissanceMoissoneuse = moissoneuse.getPower(); puissanceMoissoneuse = moissoneuse.getPower();
puissancePanier1 = panier1.getPower(); puissancePanier1 = panier1.getPower();
puissancePanier2 = panier2.getPower(); puissancePanier2 = panier2.getPower();
telemetry.addData("puissance moisso", puissanceMoissoneuse); //telemetry.addData("puissance moisso", puissanceMoissoneuse);
telemetry.addData("angle servo", servoAccroche.getPosition()); //telemetry.addData("angle servo", servoAccroche.getPosition());
telemetry.addData("dejavu", dejavu); //telemetry.addData("dejavu", dejavu);
telemetry.addData("puissance panier1", puissancePanier1); //telemetry.addData("puissance panier1", puissancePanier1);
telemetry.addData("puissance panier2", puissancePanier2); //telemetry.addData("puissance panier2", puissancePanier2);
telemetry.addData("TUTORIEL","TUTORIEL"); telemetry.addData("TUTORIEL","");
telemetry.addData("Stick Gauche","Translations"); telemetry.addData("Stick Gauche","Translations");
telemetry.addData("Stick Droit","Rotations"); telemetry.addData("Stick Droit","Rotations");
telemetry.addData("X","Descendre Crochet"); telemetry.addData("X","Descendre Crochet");
telemetry.addData("Rond","Moissoneuse"); telemetry.addData("Rond","Moissoneuse");
telemetry.addData("Triangle","Monter le crochet");
telemetry.addData("Carré","Panier en position réception");
telemetry.addData("R1","Mettre le crochet en position");
telemetry.addData("L1","Renverser le Panier");
telemetry.addData("L2","Accélérer");
telemetry.addData("Home","Bloquer le crochet");
telemetry.addData("Flèche du haut","Monter le panier");
telemetry.addData("Flèche du bas","Baisser le panier");
} }
} }
} }
@ -248,7 +259,7 @@ class WRRobot{
this.gamepad1 = gamepad1; this.gamepad1 = gamepad1;
} }
public void moves(float x, double y){ public void moves(float x, double y){
double approx = 0.15; double approx = 0.4;
boolean xnozero = (x<-approx || x>approx); boolean xnozero = (x<-approx || x>approx);
boolean ynozero = (y<-approx || y>approx); boolean ynozero = (y<-approx || y>approx);
@ -325,7 +336,7 @@ class WRRobot{
* @param g2x is the x coordinates of the right joystick * @param g2x is the x coordinates of the right joystick
*/ */
public void Rotation(float g2x){ public void Rotation(float g2x){
double approx = 0.15; double approx = 0.4;
boolean xnozero = (g2x<-approx || g2x>approx); boolean xnozero = (g2x<-approx || g2x>approx);
double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4); double pow = gamepad1.left_trigger > 0.5?gamepad1.left_trigger:(gamepad1.right_trigger>0.5?0.2:0.4);
if (!xnozero) return; if (!xnozero) return;