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Actualiser ftc2024-carlike.java

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This commit is contained in:
Gzod01 2024-01-06 14:23:24 +00:00
parent 84d5725c89
commit cf53b5fc46
1 changed files with 5 additions and 2 deletions
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7
ftc2024-carlike.java
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@ -57,8 +57,11 @@ 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"){
lpower = (gamepad1.left_stick_x-gamepad1.left_stick_y)/Math.pow(2,1/2); double a = (gamepad1.left_stick_x-gamepad1.left_stick_y)/Math.pow(2,1/2);
rpower = (gamepad1.left_stick_x+gamepad1.left_stick_y)/Math.pow(2,1/2); double b = (gamepad1.left_stick_x+gamepad1.left_stick_y)/Math.pow(2,1/2);
double asqr_plus_bsqr = Math.pow(a,2)+Math.pow(b,2);
lpower = (a/asqr_plus_bsqr)*Math.pow(gamepad1.left_trigger,1/2);
rpower = (b/asqr_plus_bsqr)*Math.pow(gamepad1.left_trigger,1/2);
} }
if(!(gamepad1.left_bumper)){ if(!(gamepad1.left_bumper)){
lpower/=3; lpower/=3;