TimeCrafters/CenterStage
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TeleOp for drivetrain with FTC Lib

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This commit is contained in:
SpencerPiha
2023-09-26 19:29:22 -05:00
parent 869a731377
commit 03e144fe40
2 changed files with 44 additions and 0 deletions
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43
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
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@@ -1,14 +1,57 @@
package org.timecrafters.CenterStage.Common;
import com.arcrobotics.ftclib.drivebase.HDrive;
import com.arcrobotics.ftclib.hardware.RevIMU;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.timecrafters.Library.Robot;
import dev.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeRobot extends Robot {
private HardwareMap hardwareMap;
private MotorEx frontLeft, frontRight, backLeft, backRight;
private RevIMU imu;
private HDrive xDrive;
private String string;
private CyberarmEngine engine;
public PrototypeRobot(String string) {
this.string = string;
}
@Override
public void setup() {
System.out.println("Bacon: " + this.string);
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
//MOTORS
frontRight = new MotorEx(hardwareMap, "frontRight");
frontLeft = new MotorEx(hardwareMap, "frontLeft");
backRight = new MotorEx(hardwareMap, "backRight");
backLeft = new MotorEx(hardwareMap, "backLeft");
//IMU
imu = hardwareMap.get(RevIMU.class, "imu");
imu.init(new BNO055IMU.Parameters());
// input motors exactly as shown below
xDrive = new HDrive(frontLeft, frontRight,
backLeft, backRight);
}
public void driveTrainTeleOp() {
xDrive.driveFieldCentric(engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, engine.gamepad1.right_stick_x, heading());
}
public double heading() {
return imu.getHeading();
}
}

1
TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
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@@ -11,5 +11,6 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
}
@Override
public void exec() {
robot.driveTrainTeleOp();
}
}