werobot/fgc2023-robotcode
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compare: werobot:807649c9965b0b386a8b456496dcb5742f0abbc3
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werobot:main

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Author SHA1 Message Date
GZod01
807649c996 Merge branch 'main' of https://forge.lefuturiste.fr/werobot/fgc2023-robotcode 2023-09-25 18:47:45 +02:00
GZod01
64f9226d29 helloworld 2023-09-25 18:46:57 +02:00
1 changed files with 26 additions and 20 deletions
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WeRobot-Code.java
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@ -6,10 +6,15 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@TeleOp @TeleOp(name="WeRobot: FGC2023 OpMode", group="WeRobot")
public class DualDrive extends LinearOpMode { public class DualDrive extends LinearOpMode {
private DcMotor rightmotor; private DcMotor flm;
private DcMotor leftmotor; private DcMotor frm;
private DcMotor brm;
private DcMotor blm;
private DcMotor moissonmotor;
private DcMotor launchermotor;
private DcMotor mountmotor;
@Override @Override
public void runOpMode() { public void runOpMode() {
@ -17,23 +22,23 @@ public class DualDrive extends LinearOpMode {
double y; double y;
float g2x; float g2x;
boolean ismoissonactive=false; boolean ismoissonactive=false;
boolean a; boolean ga;
boolean y; boolean gy;
boolean preva =false; boolean preva =false;
flm = hardwareMap.get(DcMotor.class, "0"); flm = hardwareMap.get(DcMotor.class, "flm");
frm = hardwareMap.get(DcMotor.class, "1"); frm = hardwareMap.get(DcMotor.class, "frm");
blm = hardwareMap.get(DcMotor.class, "2"); blm = hardwareMap.get(DcMotor.class, "blm");
brm = hardwareMap.get(DcMotor.class, "3"); brm = hardwareMap.get(DcMotor.class, "brm");
moissonmotor = hardwareMap.get(DcMotor.class, "4"); moissonmotor = hardwareMap.get(DcMotor.class, "msn");
launchermotor = hardwareMap.get(DcMotor.class, "5"); launchermotor = hardwareMap.get(DcMotor.class, "lnc");
mountmotor = hardwareMap.get(DcMotor.class, "6"); mountmotor = hardwareMap.get(DcMotor.class, "mnt");
waitForStart(); waitForStart();
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; a = gamepad1.a;
gy = gamepad.y; gy = gamepad1.y;
if(a & !preva){ if(a & !preva){
ismoissonactive=!ismoissonactive; ismoissonactive=!ismoissonactive;
preva=true; preva=true;
@ -67,7 +72,7 @@ public class DualDrive extends LinearOpMode {
} }
} }
public class Robot{ public class Robot{
public void moves(x,y,flm,frm,blm,brm){ public void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
float approx = 0.15; float 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);
@ -93,13 +98,14 @@ public class Robot{
} }
} }
public void diagonal(x,y,flm,frm,blm,brm){ public void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
if(x>0){ if(x>0){
if(y>0){ if(y>0){
// North East // North East
Robot.movement(flm,frm,blm,brm,[1,0,0,1]); Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
}else{ }
else{
//South East //South East
Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]); Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]);
} }
@ -114,7 +120,7 @@ public class Robot{
} }
} }
} }
public void horizontal(x,flm,frm,blm,brm){ public void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(x>0){ if(x>0){
Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]); Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
}else{ }else{
@ -124,7 +130,7 @@ public class Robot{
} }
public void vertical(y,flm,frm,blm,brm){ public void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
if(y>0){ if(y>0){
Robot.movement(flm,frm,blm,brm,[1,1,1,1]); Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
}else{ }else{
@ -132,13 +138,13 @@ public class Robot{
} }
} }
public void movement(flm,frm,blm,brm,list){ public void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
flm.setPower(list[0]); flm.setPower(list[0]);
frm.setPower(list[1]); frm.setPower(list[1]);
blm.setPower(list[2]); blm.setPower(list[2]);
brm.setPower(list[3]); brm.setPower(list[3]);
} }
public void Rotations(g2x,flm,frm,blm,brm){ public void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
float approx = 0.15; float approx = 0.15;
boolean xnozero = (g2x<-approx || g2x>approx); boolean xnozero = (g2x<-approx || g2x>approx);
if(xnozero){ if(xnozero){