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Pizza bot autonomous, only wants to veer right no matter what I say, any ideas?

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This commit is contained in:
NerdyBirdy460
2023-11-21 17:39:50 -06:00
parent 23bbd0c6eb
commit 198ea7c9c4
5 changed files with 121 additions and 22 deletions
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2
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
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@@ -2,6 +2,7 @@ package org.timecrafters.CenterStage.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoArmState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoDriveState;
import dev.cyberarm.engine.V2.CyberarmEngine;
@@ -11,5 +12,6 @@ public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiPizzaAutoDriveState());
addState(new SodiPizzaAutoArmState());
}
}

21
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoArmState.java Normal file
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@@ -0,0 +1,21 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoArmState extends CyberarmState {
private SodiPizzaMinibotObject robot;
private String groupName, actionName;
public void SodiPizzaAutoDriveState() {
groupName = " ";
actionName = " ";
robot = new SodiPizzaMinibotObject();
robot.setup();
}
@Override
public void exec() {
}
}

65
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.CenterStage.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
@@ -7,6 +9,7 @@ import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoDriveState extends CyberarmState{
final private SodiPizzaMinibotObject robot;
final private String groupName, actionName;
private long lastMoveTime;
public SodiPizzaAutoDriveState() {
groupName = " ";
@@ -15,22 +18,56 @@ public class SodiPizzaAutoDriveState extends CyberarmState{
robot.setup();
}
@Override
public void start() {
}
@Override
public void telemetry() {
engine.telemetry.addData("Target Ticks?", robot.leftFront.getTargetPosition());
engine.telemetry.addData("Current Ticks?", robot.leftFront.getCurrentPosition());
engine.telemetry.addData("Ticks Needed?", robot.leftFront.getTargetPosition() -
robot.leftFront.getCurrentPosition());
}
@Override
public void exec() {
robot.flDrive.setTargetPosition(2800);
if (robot.flDrive.getCurrentPosition() < robot.flDrive.getTargetPosition()) {
robot.flDrive.setPower(0.75);
robot.frDrive.setPower(0.75);
robot.blDrive.setPower(0.75);
robot.brDrive.setPower(0.75);
} else {
robot.flDrive.setPower(0);
robot.frDrive.setPower(0);
robot.blDrive.setPower(0);
robot.brDrive.setPower(0);
if (robot.leftFront.getCurrentPosition() < 1000) {
robot.leftFront.setTargetPosition(1000);
robot.leftBack.setTargetPosition(1000);
robot.rightFront.setTargetPosition(1000);
robot.rightBack.setTargetPosition(1000);
robot.leftFront.setPower(0.5);
robot.rightFront.setPower(0.5);
robot.leftBack.setPower(0.5);
robot.rightBack.setPower(0.5);
}
if (robot.flDrive.getPower() == 0 && robot.flDrive.getCurrentPosition() >= robot.flDrive.getTargetPosition()) {
setHasFinished(true);
}
if (robot.leftFront.getCurrentPosition() < 1250 && robot.leftFront.getCurrentPosition() >= 1000 &&
robot.rightBack.getCurrentPosition() > 750) {
robot.leftFront.setPower(0.5);
robot.leftBack.setPower(0.5);
robot.rightFront.setPower(-0.5);
robot.rightBack.setPower(-0.5);
robot.leftFront.setTargetPosition(1250);
robot.leftBack.setTargetPosition(1250);
robot.rightFront.setTargetPosition(750);
robot.rightBack.setTargetPosition(750);
}
if (robot.leftFront.getCurrentPosition() >= 1250 && robot.rightBack.getCurrentPosition() <= 750) {
robot.leftFront.setPower(0);
robot.rightFront.setPower(0);
robot.leftBack.setPower(0);
robot.rightBack.setPower(0);
setHasFinished(true);
}
}
}

23
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java Normal file
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@@ -0,0 +1,23 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaWheelTest extends CyberarmState {
private SodiPizzaMinibotObject robot;
private String groupName, actionName;
public SodiPizzaWheelTest() {
groupName = " ";
actionName = " ";
robot = new SodiPizzaMinibotObject();
robot.setup();
}
@Override
public void exec() {
}
}

32
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
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@@ -1,6 +1,7 @@
package org.timecrafters.CenterStage.Common;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo;
@@ -13,8 +14,8 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class SodiPizzaMinibotObject extends Robot {
public HardwareMap hardwareMap;
public DcMotor flDrive, frDrive, blDrive, brDrive;
public Servo shoulder, hand;
public DcMotor leftFront, rightFront, leftBack, rightBack;
public Servo shoulder, gripper;
public IMU imu;
private String string;
@@ -42,14 +43,29 @@ public class SodiPizzaMinibotObject extends Robot {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
//Motor defining
flDrive = engine.hardwareMap.dcMotor.get("FL Drive");
frDrive = engine.hardwareMap.dcMotor.get("FR Drive");
blDrive = engine.hardwareMap.dcMotor.get("BL Drive");
brDrive = engine.hardwareMap.dcMotor.get("BR Drive");
leftFront = engine.hardwareMap.dcMotor.get("leftFront");
rightFront = engine.hardwareMap.dcMotor.get("rightFront");
leftBack = engine.hardwareMap.dcMotor.get("leftBack");
rightBack = engine.hardwareMap.dcMotor.get("rightBack");
leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftBack.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightBack.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//Servo Defining
shoulder = engine.hardwareMap.servo.get("Shoulder");
hand = engine.hardwareMap.servo.get("Hand");
shoulder = engine.hardwareMap.servo.get("arm");
gripper = engine.hardwareMap.servo.get("gripper");
}
}