TimeCrafters/CenterStage
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Still working on making the Controller Hub recognize my programs, setup buggy

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This commit is contained in:
NerdyBirdy460
2023-10-14 12:46:00 -05:00
parent 3261fd18a7
commit 089ca3dee9
3 changed files with 74 additions and 24 deletions
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7
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/ProtoBotEngineSodi.java
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@@ -1,19 +1,18 @@
package org.timecrafters.CenterStage.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.ProtoBotSodi;
import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Rigel", group = "Robot")
@Autonomous(name = "Rigel", group = "PROTOTYPE")
public class ProtoBotEngineSodi extends CyberarmEngine {
private ProtoBotSodi robot;
@Override
public void setup() {
this.robot = new ProtoBotSodi();
this.robot = new ProtoBotSodi("Hello World");
this.robot.setup();
addState(new ProtoBotStateSodi());

52
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -1,6 +1,7 @@
package org.timecrafters.CenterStage.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import dev.cyberarm.engine.V2.CyberarmState;
@@ -9,25 +10,34 @@ import org.timecrafters.CenterStage.Common.ProtoBotSodi;
public class ProtoBotStateSodi extends CyberarmState {
ProtoBotSodi robot;
private double avgVelocity, avgDrivePower;
public ProtoBotStateSodi() {
this.robot = robot;
}
public void telemetry() {
engine.telemetry.addData("Avg Drive Velocity", avgVelocity);
engine.telemetry.addData("Avg Drive Power", avgDrivePower);
engine.telemetry.addData("Front Left Velocity", robot.flDrive.getVelocity());
engine.telemetry.addData("Front Right Velocity", robot.frDrive.getVelocity());
engine.telemetry.addData("Back Left Velocity", robot.blDrive.getVelocity());
engine.telemetry.addData("Back Right Velocity", robot.brDrive.getVelocity());
engine.telemetry.addData("Front Left Power", robot.flDrive.motor.getPower());
engine.telemetry.addData("Front Right Power", robot.frDrive.motor.getPower());
engine.telemetry.addData("Back Left Power", robot.blDrive.motor.getPower());
engine.telemetry.addData("Back Right Power", robot.brDrive.motor.getPower());
}
@Override
public void start() {
//Motors
robot.flDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.frDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.blDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.brDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.bloodWorm.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
//Servos
robot.jaw.setDirection(Servo.Direction.FORWARD);
public double getAvgDrivePower() {
avgDrivePower = (robot.flDrive.motor.getPower() + robot.frDrive.motor.getPower() + robot.blDrive.motor.getPower() + robot.brDrive.motor.getPower())/4;
return avgDrivePower;
}
public double getAvgVelocity() {
avgVelocity = (robot.flDrive.getVelocity() + robot.frDrive.getVelocity() + robot.blDrive.getVelocity() + robot.brDrive.getVelocity())/4;
return avgVelocity;
}
@Override
public void init() {
robot.flDrive.motor.setPower(0);
@@ -35,6 +45,14 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
robot.bloodWorm.motor.setPower(0);
// robot.fang.setPosition(0);
// robot.jaw.setPosition(0);
// robot.neck.setPosition(0);
// robot.shoulder.setPosition(0);
// robot.wrist.setPosition(0);
// robot.hand.setPosition(0);
}
@Override
@@ -52,6 +70,16 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.blDrive.motor.setPower(-0.5);
robot.brDrive.motor.setPower(-0.5);
robot.bloodWorm.motor.setPower(-0.5);
} else if (System.currentTimeMillis() >= 3500 && System.currentTimeMillis() < 4500) {
robot.flDrive.motor.setPower(0.5);
robot.frDrive.motor.setPower(0.5);
robot.blDrive.motor.setPower(-0.5);
robot.brDrive.motor.setPower(-0.5);
} else if (System.currentTimeMillis() >= 4500 && System.currentTimeMillis() < 5500) {
robot.flDrive.motor.setPower(-0.5);
robot.frDrive.motor.setPower(-0.5);
robot.blDrive.motor.setPower(0.5);
robot.brDrive.motor.setPower(0.5);
} else {
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);

39
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
View File

@@ -23,24 +23,47 @@ public class ProtoBotSodi extends Robot {
public HardwareMap hardwareMap;
public MotorEx flDrive, frDrive, blDrive, brDrive, bloodWorm;
public CRServo fang;
public Servo jaw;
public Servo fang, jaw, neck, shoulder, wrist, hand;
public ProtoBotSodi robot;
private TimeCraftersConfiguration configuration;
private String string;
private CyberarmEngine engine;
public ProtoBotSodi(String string) {
this.engine = engine;
this.string = string;
}
@Override
public void setup() {
public void setup() {System.out.println("Bacon: " + this.string);
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Robbie");
//Motors
flDrive = new MotorEx(hardwareMap, "frontLeft");
//Motors
//MOTORS
frDrive = new MotorEx(hardwareMap, "frontRight");
blDrive = new MotorEx(hardwareMap, "backLeft");
flDrive = new MotorEx(hardwareMap, "frontLeft");
brDrive = new MotorEx(hardwareMap, "backRight");
bloodWorm = new MotorEx(hardwareMap, "lift");
blDrive = new MotorEx(hardwareMap, "backLeft");
robot.flDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.frDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.blDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.brDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.bloodWorm.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
//The motor bloodWorm is the one that raises the deliverer.
//The reason it's called bloodworm is because of what bloodworms are. Better left unsaid.
//Servos
robot.jaw.setDirection(Servo.Direction.FORWARD);
robot.fang.setDirection(Servo.Direction.FORWARD);
robot.neck.setDirection(Servo.Direction.FORWARD);
robot.shoulder.setDirection(Servo.Direction.FORWARD);
robot.wrist.setDirection(Servo.Direction.FORWARD);
robot.hand.setDirection(Servo.Direction.FORWARD);
}
}