From 007921bd383fabf599f84e18512f1be245404919 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Wed, 8 Nov 2023 15:59:49 -0600 Subject: [PATCH] Minibot Yelow V2 code should now compile --- .../TeleOp/Engines/MiniYTeleOPEngine.java | 5 +- .../TeleOp/States/MiniYellowTeleOPv2.java | 83 +++++++++---------- 2 files changed, 39 insertions(+), 49 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java index 96ed34d..3437439 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java @@ -15,9 +15,6 @@ import dev.cyberarm.engine.V2.CyberarmEngine; @Override public void setup() { - this.robot = new MiniYellowTeleOPv2(); - this.robot.setup(); - - addState(new MiniYellowTeleOPv2(robot)); + addState(new MiniYellowTeleOPv2()); } } diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java index 1857184..ff384d5 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java @@ -14,9 +14,8 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig import dev.cyberarm.engine.V2.CyberarmEngine; import dev.cyberarm.engine.V2.CyberarmState; -public class MiniYellowTeleOPv2 extends Robot { +public class MiniYellowTeleOPv2 extends CyberarmState { - private final MiniYellowTeleOPv2 robot; public HardwareMap hardwareMap; public MotorEx flDrive, frDrive, blDrive, brDrive; public IMU imu; @@ -24,58 +23,52 @@ public class MiniYellowTeleOPv2 extends Robot { private float lStickY, transitPercent; public TimeCraftersConfiguration configuration; - - public MiniYellowTeleOPv2(MiniYellowTeleOPv2 robot) {} - @Override - public void init () { + public void init() { + this.hardwareMap = CyberarmEngine.instance.hardwareMap; + CyberarmEngine engine = CyberarmEngine.instance; - this.hardwareMap = CyberarmEngine.instance.hardwareMap; - CyberarmEngine engine = CyberarmEngine.instance; - - configuration = new TimeCraftersConfiguration("Minibot Yellow"); + configuration = new TimeCraftersConfiguration("Minibot Yellow"); - imu = engine.hardwareMap.get(IMU.class, "imu"); + imu = engine.hardwareMap.get(IMU.class, "imu"); - IMU.Parameters parameters = new IMU.Parameters( - new RevHubOrientationOnRobot( - RevHubOrientationOnRobot.LogoFacingDirection.LEFT, - RevHubOrientationOnRobot.UsbFacingDirection.UP)); + IMU.Parameters parameters = new IMU.Parameters( + new RevHubOrientationOnRobot( + RevHubOrientationOnRobot.LogoFacingDirection.LEFT, + RevHubOrientationOnRobot.UsbFacingDirection.UP)); - imu.initialize(parameters); - imu.resetYaw(); + imu.initialize(parameters); + imu.resetYaw(); - //Motors - frDrive = new MotorEx(hardwareMap, "FrontRight"); - flDrive = new MotorEx(hardwareMap, "FrontLeft"); - brDrive = new MotorEx(hardwareMap, "BackRight"); - blDrive = new MotorEx(hardwareMap, "BackLeft"); + //Motors + frDrive = new MotorEx(hardwareMap, "FrontRight"); + flDrive = new MotorEx(hardwareMap, "FrontLeft"); + brDrive = new MotorEx(hardwareMap, "BackRight"); + blDrive = new MotorEx(hardwareMap, "BackLeft"); - flDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); - frDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); - blDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); - brDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); + flDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); + frDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); + blDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); + brDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD); - flDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - frDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - blDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - brDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + flDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + frDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + blDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + brDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - flDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); - frDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); - blDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); - brDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + flDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + frDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + blDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + brDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER); - } - - @Override - public void exec () { - - - transitPercent = -engine.gamepad1.left_stick_y * 100; - flPower = lStickY / 100; - robot.flDrive.motor.setPower(flPower); - - } } + + @Override + public void exec () { + transitPercent = -engine.gamepad1.left_stick_y * 100; + flPower = lStickY / 100; + flDrive.motor.setPower(flPower); + + } +}