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Minibot teleop drive, black as well, need to add servo movement (why?)

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This commit is contained in:
NerdyBirdy460
2023-11-02 20:31:33 -05:00
parent 09280688fb
commit 23ce09ea93
4 changed files with 127 additions and 7 deletions
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57
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MiniBTeleOPBot.java Normal file
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@@ -0,0 +1,57 @@
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.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.ServoImpl;
import org.timecrafters.Library.Robot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
public class MiniBTeleOPBot extends Robot {
public HardwareMap hardwareMap;
public MotorEx leftDrive, rightDrive;
public Servo servLowLeft, servLowRight, servTop;
public IMU imu;
public TimeCraftersConfiguration configuration;
public MiniBTeleOPBot() {
}
@Override
public void setup() {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
CyberarmEngine engine = CyberarmEngine.instance;
imu = engine.hardwareMap.get(IMU.class, "imu");
IMU.Parameters parameters = new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.LEFT,
RevHubOrientationOnRobot.UsbFacingDirection.UP));
imu.initialize(parameters);
//Motors
leftDrive = new MotorEx(hardwareMap, "LeftDrive");
rightDrive = new MotorEx(hardwareMap, "RightDrive");
leftDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//Servos
servLowLeft = hardwareMap.servo.get("ServoLowLeft");
servLowRight = hardwareMap.servo.get("ServoLowRight");
servTop = hardwareMap.servo.get("ServoTop");
}
}

22
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniBTeleOPEngine.java Normal file
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@@ -0,0 +1,22 @@
package org.timecrafters.CenterStage.TeleOp.Engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.MiniBTeleOPBot;
import org.timecrafters.CenterStage.TeleOp.States.BlackMiniTeleOP;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Black Minibot")
public class MiniBTeleOPEngine extends CyberarmEngine {
private MiniBTeleOPBot robot;
@Override
public void setup() {
this.robot = new MiniBTeleOPBot();
this.robot.setup();
addState(new BlackMiniTeleOP());
}
}

41
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/BlackMiniTeleOP.java Normal file
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@@ -0,0 +1,41 @@
package org.timecrafters.CenterStage.TeleOp.States;
import org.timecrafters.CenterStage.Common.MiniBTeleOPBot;
import dev.cyberarm.engine.V2.CyberarmState;
public class BlackMiniTeleOP extends CyberarmState {
private MiniBTeleOPBot robot;
public BlackMiniTeleOP(MiniBTeleOPBot robot) {this.robot = robot;}
private double rPower, lPower;
public BlackMiniTeleOP() {
}
@Override
public void init() {
rPower = 0;
lPower = 0;
robot.rightDrive.motor.setPower(rPower);
robot.leftDrive.motor.setPower(lPower);
}
@Override
public void exec() {
if (engine.gamepad1.right_trigger > 0.1) {
rPower = engine.gamepad1.right_trigger;
robot.rightDrive.motor.setPower(rPower);
}
if (engine.gamepad1.left_trigger > 0.1) {
lPower = engine.gamepad1.left_trigger;
robot.leftDrive.motor.setPower(lPower);
}
}
}

14
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/YellowMinibotTeleOP.java
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@@ -60,7 +60,7 @@ public class YellowMinibotTeleOP extends CyberarmState {
@Override
public void exec() {
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) {
if (Math.abs(engine.gamepad1.left_stick_y) < 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1 && Math.abs(engine.gamepad1.right_stick_x) < 0.1) {
drivePower = 0;
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);
@@ -76,24 +76,24 @@ public class YellowMinibotTeleOP extends CyberarmState {
robot.imu.resetYaw();
}
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;
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1) {
drivePower = engine.gamepad1.left_stick_y;
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.right_stick_x) > 0.1) {
drivePower = engine.gamepad1.right_stick_x;
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);
}
if (Math.abs(engine.gamepad1.left_stick_x) > 0.1){
drivePower = engine.gamepad1.left_stick_x;
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);