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Stub autonomous for Red Crab minibot

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Cyberarm
2023-12-11 10:56:30 -06:00
parent b84619bfc5
commit 3cecfce1cf
7 changed files with 186 additions and 0 deletions
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14
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -2,6 +2,7 @@ package dev.cyberarm.minibots.red_crab;
import com.arcrobotics.ftclib.hardware.motors.Motor;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.arcrobotics.ftclib.hardware.motors.MotorGroup;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.IMU;
@@ -9,6 +10,9 @@ import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import java.sql.Time;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
@@ -58,11 +62,17 @@ public class RedCrabMinibot {
public final MotorEx frontLeft, frontRight, backLeft, backRight, winch, clawArm;
public final Servo leftClaw, rightClaw, clawWrist, droneLatch, hookArm;
public final MotorGroup left, right;
final CyberarmEngine engine;
public final TimeCraftersConfiguration config;
public RedCrabMinibot() {
engine = CyberarmEngine.instance;
config = new TimeCraftersConfiguration("cyberarm_RedCrab");
/// IMU ///
/// ------------------------------------------------------------------------------------ ///
imu = engine.hardwareMap.get(IMU.class, "imu"); // | Ctrl Hub, I2C Port: 0
@@ -98,6 +108,10 @@ public class RedCrabMinibot {
backLeft.setZeroPowerBehavior(Motor.ZeroPowerBehavior.BRAKE);
backRight.setZeroPowerBehavior((Motor.ZeroPowerBehavior.BRAKE));
/// --- MOTOR GROUPS
left = new MotorGroup(frontLeft, backLeft);
right = new MotorGroup(frontRight, backRight);
/// WINCH ///
/// ------------------------------------------------------------------------------------ ///
winch = new MotorEx(engine.hardwareMap, "winch"); // | Ctrl|Ex Hub, Port: ??

22
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java Normal file
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@@ -0,0 +1,22 @@
package dev.cyberarm.minibots.red_crab.engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
@Autonomous(name = "Cyberarm Red Crab BLUE AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueAudienceEngine extends CyberarmEngine {
@Override
public void setup() {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
RedCrabMinibot.class,
"Autonomous_BLUE_Audience"
);
}
}

22
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java Normal file
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@@ -0,0 +1,22 @@
package dev.cyberarm.minibots.red_crab.engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
@Autonomous(name = "Cyberarm Red Crab BLUE BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueBackstageEngine extends CyberarmEngine {
@Override
public void setup() {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
RedCrabMinibot.class,
"Autonomous_BLUE_Backstage"
);
}
}

22
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java Normal file
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@@ -0,0 +1,22 @@
package dev.cyberarm.minibots.red_crab.engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
@Autonomous(name = "Cyberarm Red Crab RED AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedAudienceEngine extends CyberarmEngine {
@Override
public void setup() {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
RedCrabMinibot.class,
"Autonomous_RED_Audience"
);
}
}

22
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java Normal file
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@@ -0,0 +1,22 @@
package dev.cyberarm.minibots.red_crab.engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
@Autonomous(name = "Cyberarm Red Crab RED BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedBackstageEngine extends CyberarmEngine {
@Override
public void setup() {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
RedCrabMinibot.class,
"Autonomous_RED_Backstage"
);
}
}

65
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Rotate.java Normal file
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@@ -0,0 +1,65 @@
package dev.cyberarm.minibots.red_crab.states;
import com.qualcomm.robotcore.util.Range;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.yellow.YellowMinibot;
public class Rotate extends CyberarmState {
final private RedCrabMinibot robot;
final private String groupName, actionName;
final private double maxPower, minPower, lerpDegrees, headingDegrees, toleranceDegrees;
final private int timeoutMS;
public Rotate(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
this.groupName = groupName;
this.actionName = actionName;
this.minPower = robot.config.variable(groupName, actionName, "minPower").value();
this.maxPower = robot.config.variable(groupName, actionName, "maxPower").value();
this.lerpDegrees = robot.config.variable(groupName, actionName, "lerpDEGREES").value();
this.headingDegrees = robot.config.variable(groupName, actionName, "headingDEGREES").value();
this.toleranceDegrees = robot.config.variable(groupName, actionName, "toleranceDEGREEES").value();
this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value();
}
@Override
public void exec() {
double angleDiff = Utilities.angleDiff(Utilities.facing(robot.imu) + Utilities.turnRate(robot.imu), headingDegrees);
if (Math.abs(angleDiff) <= toleranceDegrees || runTime() >= timeoutMS) {
robot.left.set(0);
robot.right.set(0);
this.finished();
return;
}
double power = Utilities.lerp(minPower, maxPower, Range.clip(Math.abs(angleDiff) / lerpDegrees, 0.0, 1.0));
if (angleDiff > 0) {
robot.left.set(-power);
robot.right.set(power);
} else {
robot.left.set(power);
robot.right.set(-power);
}
}
@Override
public void telemetry() {
engine.telemetry.addLine();
engine.telemetry.addData("Robot Heading", Utilities.facing(robot.imu));
engine.telemetry.addData("Robot Target Heading", headingDegrees);
engine.telemetry.addData("Robot Angle Diff", Utilities.angleDiff(Utilities.facing(robot.imu) + Utilities.turnRate(robot.imu), headingDegrees));
engine.telemetry.addData("Robot Turn Rate", Utilities.turnRate(robot.imu));
}
}

19
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/StrafeMove.java Normal file
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@@ -0,0 +1,19 @@
package dev.cyberarm.minibots.red_crab.states;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class StrafeMove extends CyberarmState {
private final RedCrabMinibot robot;
private final String groupName, actionName;
public StrafeMove(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
this.groupName = groupName;
this.actionName = actionName;
}
@Override
public void exec() {
}
}