werobot/ftc2024-robotcode
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Gzod01 2024-01-06 16:14:02 +01:00
parent 5e1d68d748
commit 0ff04c270d
1 changed files with 6 additions and 2 deletions
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8
ftc2024-carlike.java
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@ -16,6 +16,9 @@ import com.qualcomm.robotcore.hardware.Servo;
public class Werobot_FTC2024_carlike extends LinearOpMode { public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm; private DcMotor rm;
private DcMotor lm; private DcMotor lm;
private double helloexp(double t){
return (Math.exp(5*t-1)-1)/(Math.exp(5)-1);
}
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
float x; float x;
@ -34,6 +37,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
x = gamepad1.left_stick_x; x = gamepad1.left_stick_x;
y = gamepad1.left_stick_y; y = gamepad1.left_stick_y;
t= gamepad1.left_trigger; t= gamepad1.left_trigger;
t2 = helloexp(t);
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
if(gamepad1.a && !already_a){ if(gamepad1.a && !already_a){
if(mode=="normal"){ if(mode=="normal"){
@ -64,8 +68,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
double a = (x-y)/Math.pow(2,1/2); double a = (x-y)/Math.pow(2,1/2);
double b = (x+y)/Math.pow(2,1/2); double b = (x+y)/Math.pow(2,1/2);
double vmean = (a+b)/2; double vmean = (a+b)/2;
lpower = (a/vmean)*(Math.log(t+1)/Math.log(2)); lpower = (a/vmean)*t2;
rpower = (b/vmean)*(Math.log(t+1)/Math.log(2)); rpower = (b/vmean)*t2;
} }
if(!(gamepad1.left_bumper)){ if(!(gamepad1.left_bumper)){
lpower/=3; lpower/=3;