TimeCrafters/CenterStage
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Minibot teleop drive, rotation buggy (Acts like it was told to strafe)

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This commit is contained in:
NerdyBirdy460
2023-11-01 20:24:34 -05:00
parent 22c4c5149e
commit 09280688fb
4 changed files with 43 additions and 22 deletions
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13
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MinibotTeleOPBot.java → TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MiniYTeleOPBot.java
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@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Common;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
@@ -11,23 +12,22 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.engine.V2.CyberarmEngine;
public class MinibotTeleOPBot extends Robot {
public class MiniYTeleOPBot extends Robot {
public HardwareMap hardwareMap;
public MotorEx flDrive, frDrive, blDrive, brDrive;
public IMU imu;
private String string;
private CyberarmEngine engine;
public TimeCraftersConfiguration configuration;
public MinibotTeleOPBot() {
public MiniYTeleOPBot() {
}
@Override
public void setup() {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
CyberarmEngine engine = CyberarmEngine.instance;
imu = engine.hardwareMap.get(IMU.class, "imu");
@@ -44,6 +44,11 @@ public class MinibotTeleOPBot extends Robot {
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.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);

4
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
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@@ -28,20 +28,18 @@ public class ProtoBotSodi extends Robot {
public MotorEx flDrive, frDrive, blDrive, brDrive, liftMotor;
public Servo grabJaw, grabElbow, grabShoulder, dropShoulder, dropElbow, dropJaw;
private String string;
private CyberarmEngine engine;
public TimeCraftersConfiguration configuration;
public ProtoBotSodi(String string) {
this.engine = engine;
this.string = string;
}
@Override
public void setup() {System.out.println("Bacon: " + this.string);
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
CyberarmEngine engine = CyberarmEngine.instance;
// TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();

8
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniBotTeleOPEngine.java → TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
View File

@@ -2,18 +2,18 @@ package org.timecrafters.CenterStage.TeleOp.Engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.MinibotTeleOPBot;
import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
import org.timecrafters.CenterStage.TeleOp.States.YellowMinibotTeleOP;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "A Yellow Minibot")
public class MiniBotTeleOPEngine extends CyberarmEngine {
private MinibotTeleOPBot robot;
public class MiniYTeleOPEngine extends CyberarmEngine {
private MiniYTeleOPBot robot;
@Override
public void setup() {
this.robot = new MinibotTeleOPBot();
this.robot = new MiniYTeleOPBot();
this.robot.setup();
addState(new YellowMinibotTeleOP(robot));

40
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/YellowMinibotTeleOP.java
View File

@@ -9,21 +9,20 @@ import dev.cyberarm.engine.V2.GamepadChecker;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.timecrafters.CenterStage.Common.MinibotTeleOPBot;
import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
public class YellowMinibotTeleOP extends CyberarmState {
private final MinibotTeleOPBot robot;
private final MiniYTeleOPBot robot;
public float angleDelta, drivePower;
YawPitchRollAngles imuInitAngle;
private GamepadChecker gamepad1Checker, gamepad2Checker;
public YellowMinibotTeleOP(MinibotTeleOPBot robot) {
public YellowMinibotTeleOP(MiniYTeleOPBot robot) {
this.robot = robot;
}
public float getAngleDelta() {
robot.imu.getRobotYawPitchRollAngles();
robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
return angleDelta;
}
@@ -39,12 +38,13 @@ public class YellowMinibotTeleOP extends CyberarmState {
engine.telemetry.addData("Back Left Power", robot.blDrive.motor.getPower());
engine.telemetry.addData("Back Right Power", robot.brDrive.motor.getPower());
engine.telemetry.addData("FL Position",robot.flDrive.motor.getCurrentPosition());
engine.telemetry.addData("IMU Angles", robot.imu.getRobotYawPitchRollAngles());
engine.telemetry.addData("IMU Angles", robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
}
@Override
public void init() {
drivePower = 0;
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
@@ -53,15 +53,19 @@ public class YellowMinibotTeleOP extends CyberarmState {
robot.imu.resetYaw();
imuInitAngle = robot.imu.getRobotYawPitchRollAngles();
gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
GamepadChecker gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
GamepadChecker gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
}
@Override
public void exec() {
if (engine.gamepad1.right_stick_y < 0.1) {
if (Math.abs(engine.gamepad1.right_stick_y) < 0.1 && Math.abs(engine.gamepad1.right_stick_x) < 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1) {
drivePower = 0;
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
}
if (engine.gamepad1.start && !engine.gamepad1.a) {
@@ -72,7 +76,7 @@ public class YellowMinibotTeleOP extends CyberarmState {
robot.imu.resetYaw();
}
if (engine.gamepad1.right_stick_y > 0.1) {
if (Math.abs(engine.gamepad1.right_stick_y) > 0.1 && Math.abs(engine.gamepad1.right_stick_x) < 0.1) {
drivePower = engine.gamepad1.right_stick_y;
robot.flDrive.motor.setPower(drivePower);
robot.frDrive.motor.setPower(drivePower);
@@ -80,7 +84,21 @@ public class YellowMinibotTeleOP extends CyberarmState {
robot.brDrive.motor.setPower(drivePower);
}
if (Math.abs(engine.gamepad1.right_stick_x) > 0.1) {
drivePower = engine.gamepad1.right_stick_x;
robot.flDrive.motor.setPower(-drivePower);
robot.frDrive.motor.setPower(drivePower);
robot.blDrive.motor.setPower(drivePower);
robot.brDrive.motor.setPower(-drivePower);
}
if (Math.abs(engine.gamepad1.left_stick_x) > 0.1){
drivePower = engine.gamepad1.left_stick_x;
robot.flDrive.motor.setPower(-drivePower);
robot.frDrive.motor.setPower(drivePower);
robot.blDrive.motor.setPower(-drivePower);
robot.brDrive.motor.setPower(drivePower);
}
}
}