werobot/fgc2023-robotcode
2
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Actualiser WeRobot-Code.java

Browse source
This commit is contained in:
Gzod01 2023-09-26 16:01:51 +00:00
parent d5ead592cb
commit d5c1752a63
1 changed files with 16 additions and 16 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

32
WeRobot-Code.java
View file

@ -67,12 +67,12 @@ public class DualDrive extends LinearOpMode {
g2x = gamepad1.right_stick_x;
Robot.moves(x,y,flm, frm,blm,brm);
Robot.Rotation(g2x, flm, frm, blm, brm);
WRRobot.moves(x,y,flm, frm,blm,brm);
WRRobot.Rotation(g2x, flm, frm, blm, brm);
}
}
}
public class Robot{
public class WRRobot{
public static void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
float approx = 0.15;
boolean xnozero = (x<-approx || x>approx);
@ -82,12 +82,12 @@ public class Robot{
//DO TRANSLATIONS
if(xnozero){
if(ynozzero){
Robot.diagonal(x,y, flm,frm,blm,brm);
WRRobot.diagonal(x,y, flm,frm,blm,brm);
}else{
Robot.horizontal(x,flm,frm,blm,brm);
WRRobot.horizontal(x,flm,frm,blm,brm);
}
}else{
Robot.vertical(y,flm,frm,blm,brm);
WRRobot.vertical(y,flm,frm,blm,brm);
}
}
else{
@ -103,28 +103,28 @@ public class Robot{
if(x>0){
if(y>0){
// North East
Robot.movement(flm,frm,blm,brm,new int[]{1,0,0,1});
WRRobot.movement(flm,frm,blm,brm,new int[]{1,0,0,1});
}else{
//South East
Robot.movement(flm,frm,blm,brm,new int[]{0,-1,-1,0});
WRRobot.movement(flm,frm,blm,brm,new int[]{0,-1,-1,0});
}
}else{
if(y>0){
//North West
Robot.movement(flm,frm,blm,brm,new int[]{0,1,1,0});
WRRobot.movement(flm,frm,blm,brm,new int[]{0,1,1,0});
}
else{
//South West
Robot.movement(flm,frm,blm,brm,new int[]{-1,0,0,-1});
WRRobot.movement(flm,frm,blm,brm,new int[]{-1,0,0,-1});
}
}
}
public static void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(x>0){
Robot.movement(flm,frm,blm,brm,new int[]{1,-1,-1,1});
WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,-1,1});
}else{
Robot.movement(flm,frm,blm,brm,new int[]{-1,1,1,-1});
WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,1,-1});
}
@ -132,9 +132,9 @@ public class Robot{
}
public static void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(y>0){
Robot.movement(flm,frm,blm,brm,new int[]{1,1,1,1});
WRRobot.movement(flm,frm,blm,brm,new int[]{1,1,1,1});
}else{
Robot.movement(flm,frm,blm,brm,new int[]{-1,-1,-1,-1});
WRRobot.movement(flm,frm,blm,brm,new int[]{-1,-1,-1,-1});
}
}
@ -149,9 +149,9 @@ public class Robot{
boolean xnozero = (g2x<-approx || g2x>approx);
if(xnozero){
if(x>0){
Robot.movement(flm,frm,blm,brm,new int[]{1,-1,1,-1});
WRRobot.movement(flm,frm,blm,brm,new int[]{1,-1,1,-1});
}else{
Robot.movement(flm,frm,blm,brm,new int[]{-1,1,-1,1});
WRRobot.movement(flm,frm,blm,brm,new int[]{-1,1,-1,1});
}
}
}