TimeCrafters/CenterStage
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Minibot Yelow V2 code should now compile

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This commit is contained in:
Cyberarm
2023-11-08 15:59:49 -06:00
parent cbf4c6de0d
commit 007921bd38
2 changed files with 39 additions and 49 deletions
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5
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
View File

@@ -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());
}
}

83
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java
View File

@@ -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);
}
}