From 0c6873c832443f5254f42fa64899d1990d1fe96a Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Mon, 8 Jan 2024 18:01:08 -0600 Subject: [PATCH] RedCrab: Don't reset arm encoder in teleop, fixed ArmMove state instantly finishing, added option for force a specific spike mark path for debugging, Red Audience autonomous complete- probably :slight_smile: --- .../cyberarm/minibots/red_crab/RedCrabMinibot.java | 4 +++- .../minibots/red_crab/cyberarm_RedCrab.json | 2 +- .../minibots/red_crab/states/ClawArmMove.java | 2 +- .../minibots/red_crab/states/PathEnactor.java | 14 ++++++++++++++ 4 files changed, 19 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java index 123787d..eebdf2b 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java @@ -194,7 +194,9 @@ public class RedCrabMinibot { /// --- Claw Arm Motor /// --- --- (SOFT) RESET MOTOR ENCODER - clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + // ONLY RESET ENCODER IN AUTONOMOUS + if (autonomous) + clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); /// --- --- DIRECTION clawArm.setDirection(DcMotorSimple.Direction.FORWARD); /// --- --- BRAKING diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json index 3101359..7692482 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json @@ -1 +1 @@ -{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-07 21:07:13 -0600","spec_version":2,"revision":890},"data":{"groups":[{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix3000"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1250"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 270d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx270"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-400"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"01-00","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"03-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-400"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx180"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"10-00","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix20000"}]}]},{"name":"Autonomous_SpikePath_CENTER","actions":[{"name":"01-00","comment":"@Move - Move forward to spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"02-01","comment":"@ServoMove - Open right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"04-00","comment":"@Move - Move back from spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@ServoMove - Close right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"05-01","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_LEFT","actions":[]},{"name":"Autonomous_SpikePath_RIGHT","actions":[]},{"name":"Robot","actions":[{"name":"Claw_Tuning","comment":"Claws","enabled":true,"variables":[{"name":"claw_left_closed_position","value":"Dx0.2"},{"name":"claw_left_open_position","value":"Dx0.5"},{"name":"claw_right_closed_position","value":"Dx0.78"},{"name":"claw_right_open_position","value":"Dx0.5"}]},{"name":"ClawArm_Tuning","comment":"Claw Arm","enabled":true,"variables":[{"name":"collect_angle","value":"Dx240"},{"name":"collect_float_angle","value":"Dx220"},{"name":"deposit_angle","value":"Dx165.0"},{"name":"gear_ratio","value":"Dx1"},{"name":"kD","value":"Dx1"},{"name":"kF","value":"Dx0.0"},{"name":"kI","value":"Dx3"},{"name":"kP","value":"Dx6"},{"name":"KPosP","value":"Dx1"},{"name":"max_current_milliamps","value":"Dx1588.0"},{"name":"max_speed","value":"Dx0.5"},{"name":"max_velocityDEGREES","value":"Dx60"},{"name":"motor_ticks","value":"Ix8192"},{"name":"stow_angle","value":"Dx0"},{"name":"tolerance","value":"Ix288"},{"name":"warn_overcurrent_after_ms","value":"Lx5000"}]},{"name":"ClawWrist_Tuning","comment":"Claw Wrist","enabled":true,"variables":[{"name":"collect_float_position","value":"Dx0.51"},{"name":"collect_position","value":"Dx0.51"},{"name":"deposit_position","value":"Dx0.508"},{"name":"stow_position","value":"Dx0.74"}]},{"name":"Drivetrain_Tuning","comment":"Drivetrain","enabled":true,"variables":[{"name":"gear_ratio","value":"Dx13.0321"},{"name":"max_speed","value":"Dx0.5"},{"name":"motor_ticks","value":"Ix28"},{"name":"velocity_max_in_mm","value":"Dx610"},{"name":"velocity_slow_in_mm","value":"Dx250"},{"name":"wheel_diameter_mm","value":"Dx90"}]},{"name":"DroneLauncher_Tuning","comment":"Drone Launcher","enabled":true,"variables":[{"name":"initial_position","value":"Dx0.5"},{"name":"launch_confirmation_time_ms","value":"Ix1000"},{"name":"launch_position","value":"Dx0"}]},{"name":"HookArm_Tuning","comment":"Hook Arm","enabled":true,"variables":[{"name":"stow_position","value":"Dx0.8"},{"name":"up_position","value":"Dx0.35"}]},{"name":"Winch_Tuning","comment":"Winch","enabled":true,"variables":[{"name":"max_speed","value":"Dx1.0"}]}]},{"name":"zAutonomous_BLUE_Audience","actions":[]},{"name":"zAutonomous_BLUE_Backstage","actions":[]}],"presets":{"groups":[],"actions":[{"name":"ClawArmMove","comment":"@ClawArmMove - Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"fallbackPath","value":"Ix0"},{"name":"minConfidence","value":"Dx0.7"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}} \ No newline at end of file +{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-01-08 17:56:12 -0600","spec_version":2,"revision":987},"data":{"groups":[{"name":"Autonomous_RED_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - Move claw arm up high","enabled":true,"variables":[{"name":"angle","value":"Dx130.0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"00-01","comment":"@ServoMove - Move wrist to position camera","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1000"}]},{"name":"01-00","comment":"@PathSelector - Pick path; default Center","enabled":true,"variables":[{"name":"minConfidence","value":"Dx18.0"},{"name":"path","value":"Ix1"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"02-00","comment":"@Move - Move forward","enabled":true,"variables":[{"name":"distanceMM","value":"Dx415"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-01","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx220"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix10"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"02-02","comment":"@ServoMove - Move wrist servo","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx10"},{"name":"position","value":"Dx0.51"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@PathEnactor - Enact path; paths must return to \"origin\" when done","enabled":true,"variables":[{"name":"forcePath","value":"Ix2"}]},{"name":"06-00","comment":"@ClawArmMove - Move claw arm to stow position","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"06-01","comment":"@ServoMove - Move wrist to stow position","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxclawWrist"},{"name":"timeoutMS","value":"Ix1"}]},{"name":"07-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"08-00","comment":"@Move - Move back","enabled":false,"variables":[{"name":"distanceMM","value":"Dx-207"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"09-00","comment":"@Rotate - Rotate to 0d","enabled":false,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"10-00","comment":"@Move - Strafe to left","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-610"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxtrue"},{"name":"timeoutMS","value":"Ix3000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"11-00","comment":"@Rotate - Rotate to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"12-00","comment":"@Move - Move forward unto Dawn","enabled":true,"variables":[{"name":"distanceMM","value":"Dx1043"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx900"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"13-00","comment":"@Rotate - Rotate to 90d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"14-00","comment":"@Move - Move forward to backstage","enabled":true,"variables":[{"name":"distanceMM","value":"Dx2844"},{"name":"lerpMM_DOWN","value":"Dx500"},{"name":"lerpMM_UP","value":"Dx500"},{"name":"maxVelocityMM","value":"Dx1220"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix8000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"15-00","comment":"@ClawArmMove - Move claw arm down","enabled":true,"variables":[{"name":"angle","value":"Dx180"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"16-00","comment":"@ServoMove - Open left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]},{"name":"17-00","comment":"@ClawArmMove - Move claw arm to stow","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix2500"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"17-01","comment":"@ServoMove - close left claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.2"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix250"}]}]},{"name":"Autonomous_RED_Backstage","actions":[{"name":"00-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-400"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"01-00","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx90"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"03-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-400"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"04-00","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx180"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"05-00","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"10-00","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix20000"}]}]},{"name":"Autonomous_SpikePath_CENTER","actions":[{"name":"01-00","comment":"@Move - Move forward to spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"02-01","comment":"@ServoMove - Open right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"04-00","comment":"@Move - Move back from spike mark","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-152"},{"name":"lerpMM_DOWN","value":"Dx50"},{"name":"lerpMM_UP","value":"Dx50"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@ServoMove - Close right claw (purple)","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx500"},{"name":"position","value":"Dx0.74"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix750"}]},{"name":"05-01","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Autonomous_SpikePath_LEFT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards left spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx316"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":false,"variables":[{"name":"distanceMM","value":"Dx-101"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx25"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]},{"name":"Robot","actions":[{"name":"Claw_Tuning","comment":"Claws","enabled":true,"variables":[{"name":"claw_left_closed_position","value":"Dx0.2"},{"name":"claw_left_open_position","value":"Dx0.5"},{"name":"claw_right_closed_position","value":"Dx0.78"},{"name":"claw_right_open_position","value":"Dx0.5"}]},{"name":"ClawArm_Tuning","comment":"Claw Arm","enabled":true,"variables":[{"name":"collect_angle","value":"Dx240"},{"name":"collect_float_angle","value":"Dx220"},{"name":"deposit_angle","value":"Dx165.0"},{"name":"gear_ratio","value":"Dx1"},{"name":"kD","value":"Dx1"},{"name":"kF","value":"Dx0.0"},{"name":"kI","value":"Dx3"},{"name":"kP","value":"Dx6"},{"name":"KPosP","value":"Dx1"},{"name":"max_current_milliamps","value":"Dx1588.0"},{"name":"max_speed","value":"Dx0.5"},{"name":"max_velocityDEGREES","value":"Dx60"},{"name":"motor_ticks","value":"Ix8192"},{"name":"stow_angle","value":"Dx0"},{"name":"tolerance","value":"Ix288"},{"name":"warn_overcurrent_after_ms","value":"Lx5000"}]},{"name":"ClawWrist_Tuning","comment":"Claw Wrist","enabled":true,"variables":[{"name":"collect_float_position","value":"Dx0.51"},{"name":"collect_position","value":"Dx0.51"},{"name":"deposit_position","value":"Dx0.508"},{"name":"stow_position","value":"Dx0.74"}]},{"name":"Drivetrain_Tuning","comment":"Drivetrain","enabled":true,"variables":[{"name":"gear_ratio","value":"Dx13.0321"},{"name":"max_speed","value":"Dx0.5"},{"name":"motor_ticks","value":"Ix28"},{"name":"velocity_max_in_mm","value":"Dx610"},{"name":"velocity_slow_in_mm","value":"Dx250"},{"name":"wheel_diameter_mm","value":"Dx90"}]},{"name":"DroneLauncher_Tuning","comment":"Drone Launcher","enabled":true,"variables":[{"name":"initial_position","value":"Dx0.5"},{"name":"launch_confirmation_time_ms","value":"Ix1000"},{"name":"launch_position","value":"Dx0"}]},{"name":"HookArm_Tuning","comment":"Hook Arm","enabled":true,"variables":[{"name":"stow_position","value":"Dx0.8"},{"name":"up_position","value":"Dx0.35"}]},{"name":"Winch_Tuning","comment":"Winch","enabled":true,"variables":[{"name":"max_speed","value":"Dx1.0"}]}]},{"name":"zAutonomous_BLUE_Audience","actions":[]},{"name":"zAutonomous_BLUE_Backstage","actions":[]},{"name":"zAutonomous_SpikePath_RIGHT","actions":[]},{"name":"Autonomous_SpikePath_RIGHT","actions":[{"name":"00-00","comment":"@Rotate - Rotate robot to towards right spike mark","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx45"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"01-00","comment":"@Move - Move up a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx10"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"02-00","comment":"@ServoMove - Drop pixel","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix500"}]},{"name":"03-00","comment":"@ServoMove - Close claw","enabled":true,"variables":[{"name":"lerp","value":"Bxfalse"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.72"},{"name":"servoName","value":"SxrightClaw"},{"name":"timeoutMS","value":"Ix100"}]},{"name":"04-00","comment":"@Move - Move back a bit","enabled":true,"variables":[{"name":"distanceMM","value":"Dx-50"},{"name":"lerpMM_DOWN","value":"Dx25"},{"name":"lerpMM_UP","value":"Dx2"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"05-00","comment":"@Rotate - Rotate robot to 0d","enabled":false,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]}]}],"presets":{"groups":[],"actions":[{"name":"ClawArmMove","comment":"@ClawArmMove - Move claw arm","enabled":true,"variables":[{"name":"angle","value":"Dx0"},{"name":"power","value":"Dx0.5"},{"name":"timeoutMS","value":"Ix1000"},{"name":"toleranceAngle","value":"Dx1.5"}]},{"name":"Move","comment":"@Move - Move ta wheels matey!","enabled":true,"variables":[{"name":"distanceMM","value":"Dx300"},{"name":"lerpMM_DOWN","value":"Dx100"},{"name":"lerpMM_UP","value":"Dx100"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx250"},{"name":"strafe","value":"Bxfalse"},{"name":"timeoutMS","value":"Ix2000"},{"name":"toleranceMM","value":"Dx10"}]},{"name":"PathEnactor","comment":"@PathEnactor - Enact path","enabled":true,"variables":[]},{"name":"PathSelector","comment":"@PathSelector - Pick path","enabled":true,"variables":[{"name":"fallbackPath","value":"Ix0"},{"name":"minConfidence","value":"Dx0.7"},{"name":"timeoutMS","value":"Ix2000"}]},{"name":"Rotate","comment":"@Rotate - Rotate robot to face degree heading","enabled":true,"variables":[{"name":"headingDEGREES","value":"Dx0"},{"name":"lerpDEGREES","value":"Dx90.0"},{"name":"maxVelocityMM","value":"Dx610"},{"name":"minVelocityMM","value":"Dx50"},{"name":"timeoutMS","value":"Ix5000"},{"name":"toleranceDEGREES","value":"Dx0.5"}]},{"name":"ServoMove","comment":"@ServoMove - Move servo to position","enabled":true,"variables":[{"name":"lerp","value":"Bxtrue"},{"name":"lerpMS","value":"Dx1000"},{"name":"position","value":"Dx0.5"},{"name":"servoName","value":"SxleftClaw"},{"name":"timeoutMS","value":"Ix2000"}]}]}}} \ No newline at end of file diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ClawArmMove.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ClawArmMove.java index 7930c43..9fa612a 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ClawArmMove.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ClawArmMove.java @@ -31,7 +31,7 @@ public class ClawArmMove extends CyberarmState { int tolerance = robot.clawArm.getTargetPositionTolerance(); int position = robot.clawArm.getCurrentPosition(); - if (Utilities.isBetween(position, position - tolerance, position + tolerance) || runTime() >= timeoutMS) { + if (Utilities.isBetween(robot.clawArm.getTargetPosition(), position - tolerance, position + tolerance) || runTime() >= timeoutMS) { this.finished(); } } diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java index da4636c..4cba71d 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java @@ -1,17 +1,31 @@ package dev.cyberarm.minibots.red_crab.states; +import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfigurationError; + import dev.cyberarm.engine.V2.CyberarmState; +import dev.cyberarm.engine.V2.Utilities; import dev.cyberarm.minibots.red_crab.RedCrabMinibot; public class PathEnactor extends CyberarmState { private final RedCrabMinibot robot; private String pathGroupName; + private int forcePath; public PathEnactor(RedCrabMinibot robot, String groupName, String actionName) { this.robot = robot; + + try { + this.forcePath = robot.config.variable(groupName, actionName, "forcePath").value(); + } catch (TimeCraftersConfigurationError e) { + this.forcePath = -1; + } } @Override public void start() { + // FORCE PATH FOR DEBUGGING + if (Utilities.isBetween(forcePath, 0, 2)) + engine.blackboardSet("autonomousPath", forcePath); + String path; switch (engine.blackboardGetInt("autonomousPath")) { case 1: