3-сабақ: TeleOp: Геймпад арқылы Field-Centric Mecanum басқару

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;

@TeleOp(name = "FieldCentricTeleOp")
public class FieldCentricTeleOp extends LinearOpMode {
    @Override
    public void runOpMode() {
        DcMotor fl = hardwareMap.get(DcMotor.class, "frontLeft");
        DcMotor bl = hardwareMap.get(DcMotor.class, "backLeft");
        DcMotor fr = hardwareMap.get(DcMotor.class, "frontRight");
        DcMotor br = hardwareMap.get(DcMotor.class, "backRight");

        fr.setDirection(DcMotor.Direction.REVERSE);
        br.setDirection(DcMotor.Direction.REVERSE);

        waitForStart();

        while (opModeIsActive()) {
            double y = -gamepad1.left_stick_y;
            double x = gamepad1.left_stick_x * 1.1;
            double rx = gamepad1.right_stick_x;

            double denom = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1.0);
            fl.setPower((y + x + rx) / denom);
            bl.setPower((y - x + rx) / denom);
            fr.setPower((y - x - rx) / denom);
            br.setPower((y + x - rx) / denom);
        }
    }
}