werobot/ftc2024-robotcode
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This commit is contained in:
Gzod01 2024-01-06 16:20:41 +01:00
parent aeda9b0f5c
commit 7035ce288c
1 changed files with 5 additions and 3 deletions
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8
ftc2024-carlike.java
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@ -37,7 +37,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
while (opModeIsActive()) { while (opModeIsActive()) {
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.right_trigger;
t2 = helloexp(t); t2 = helloexp(t);
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
if(gamepad1.a && !already_a){ if(gamepad1.a && !already_a){
@ -66,8 +66,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
rpower = gamepad1.right_stick_y; rpower = gamepad1.right_stick_y;
} }
else if (mode=="essaifranck"){ else if (mode=="essaifranck"){
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)*t2; lpower = (a/vmean)*t2;
rpower = (b/vmean)*t2; rpower = (b/vmean)*t2;
@ -78,6 +78,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
} }
lm.setPower(lpower); lm.setPower(lpower);
rm.setPower(rpower); rm.setPower(rpower);
telemetry.addData("lpow",lpower);
telemetry.addData("rpow",rpower);
telemetry.addData("ltrigg",t); telemetry.addData("ltrigg",t);
telemetry.addData("mode",mode); telemetry.addData("mode",mode);
telemetry.update(); telemetry.update();