TimeCrafters/CenterStage
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Waiting to test autonomous now, renamed program

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This commit is contained in:
NerdyBirdy460
2023-10-17 20:31:17 -05:00
parent b9f9d41fdc
commit 10fe4324e4
3 changed files with 15 additions and 12 deletions
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2
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/ProtoBotEngineSodi.java
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@@ -7,7 +7,7 @@ import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Rigel", group = "PROTOTYPE")
@Autonomous(name = "Autonomous (Sodi)", group = "PROTOTYPE")
public class ProtoBotEngineSodi extends CyberarmEngine {
private ProtoBotSodi robot;
@Override

8
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -44,7 +44,7 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
robot.bloodWorm.motor.setPower(0);
robot.liftMotor.motor.setPower(0);
// robot.fang.setPosition(0);
// robot.jaw.setPosition(0);
@@ -63,13 +63,13 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.frDrive.motor.setPower(0.5);
robot.blDrive.motor.setPower(0.5);
robot.brDrive.motor.setPower(0.5);
robot.bloodWorm.motor.setPower(0.5);
robot.liftMotor.motor.setPower(0.5);
} else if (System.currentTimeMillis() >= 2500 && System.currentTimeMillis() < 3500) {
robot.flDrive.motor.setPower(-0.5);
robot.frDrive.motor.setPower(-0.5);
robot.blDrive.motor.setPower(-0.5);
robot.brDrive.motor.setPower(-0.5);
robot.bloodWorm.motor.setPower(-0.5);
robot.liftMotor.motor.setPower(-0.5);
} else if (System.currentTimeMillis() >= 3500 && System.currentTimeMillis() < 4500) {
robot.flDrive.motor.setPower(0.5);
robot.frDrive.motor.setPower(0.5);
@@ -85,7 +85,7 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
robot.bloodWorm.motor.setPower(0);
robot.liftMotor.motor.setPower(0);
}
}
}

17
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
View File

@@ -22,10 +22,9 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class ProtoBotSodi extends Robot {
public HardwareMap hardwareMap;
public MotorEx flDrive, frDrive, blDrive, brDrive, bloodWorm;
public MotorEx flDrive, frDrive, blDrive, brDrive, liftMotor;
public Servo fang, jaw, neck, shoulder, wrist, hand;
public ProtoBotSodi robot;
private TimeCraftersConfiguration configuration;
private String string;
private CyberarmEngine engine;
@@ -39,7 +38,7 @@ public class ProtoBotSodi extends Robot {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Robbie");
TimeCraftersConfiguration configuration = new TimeCraftersConfiguration("Robbie");
//Motors
//MOTORS
@@ -52,10 +51,7 @@ public class ProtoBotSodi extends Robot {
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.
robot.liftMotor.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
//Servos
robot.jaw.setDirection(Servo.Direction.FORWARD);
@@ -65,5 +61,12 @@ public class ProtoBotSodi extends Robot {
robot.wrist.setDirection(Servo.Direction.FORWARD);
robot.hand.setDirection(Servo.Direction.FORWARD);
// fang = hardwareMap.servo.get("Fang");
// jaw = hardwareMap.servo.get("Jaw");
// neck = hardwareMap.servo.get("Neck");
// shoulder = hardwareMap.servo.get("Shoulder");
// wrist = hardwareMap.servo.get("Wrist");
// hand = hardwareMap.servo.get("Hand");
}
}