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Ajouter ftc2024-carlike.java

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Gzod01 2023-12-17 17:10:23 +00:00
parent 7e2c5cfdaa
commit 9e9b6cdba2
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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.robot.Robot;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.robot.Robot;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@TeleOp(name="WeRobot: FTC2024 Carlike", group="WeRobot")
public class Werobot_FTC2024_carlike extends LinearOpMode {
private DcMotor rm;
private DcMotor lm;
@Override
public void runOpMode() throws InterruptedException {
float x;
double y;
String mode = "normal";
boolean already_a = false;
telemetry.addData("Status", "Initialized");
telemetry.update();
lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm");
waitForStart();
while (opModeIsActive()) {
telemetry.addData("Status", "Running");
if(gamepad1.a && !already_a){
if(mode=="normal"){
mode="tank";
}else{
mode="normal";
}
already_a = true;
}
if(!gamepad1.a && already_a){
already_a = false;
}
double lpower = 0.0;
double rpower = 0.0;
if(mode=="normal"){
double ysign = gamepad1.left_stick_y>0?1.0:(gamepad1.left_stick_y<0?-1.0:0.0);
double xsign = gamepad1.left_stick_x>0?1.0:(gamepad1.left_stick_x<0?-1.0:0.0);
lpower = -ysign * gamepad1.left_trigger + (xsign-2*gamepad1.left_stick_x)*gamepad1.left_trigger;
rpower = ysign * gamepad1.left_trigger + (xsign-2*gamepad1.left_stick_x)*gamepad1.left_trigger;
}
else if (mode=="tank"){
lpower = -gamepad1.left_stick_y;
rpower = gamepad1.right_stick_y;
}
if(!(gamepad1.left_bumper)){
lpower/=3;
rpower/=3;
}
lm.setPower(lpower);
rm.setPower(rpower);
telemetry.addData("mode",mode);
telemetry.update();
}
}
}