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got the positions for the collector. and put the values into TACNET for all of the positions.

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SpencerPiha
2023-11-07 20:29:59 -06:00
parent 8b88d401a9
commit 3ec7b4bf1a
5 changed files with 102 additions and 6 deletions
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38
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MotorPortTestRobot.java Normal file
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@@ -0,0 +1,38 @@
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 org.timecrafters.Library.Robot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
public class MotorPortTestRobot extends Robot {
private HardwareMap hardwareMap;
private String string;
private CyberarmEngine engine;
public MotorEx eh0, eh1, eh2, eh3, ch0, ch1, ch2, ch3;
public MotorPortTestRobot(String string) {
this.engine = engine;
this.string = string;
}
@Override
public void setup() {
eh0 = new MotorEx(hardwareMap, "eh0");
eh1 = new MotorEx(hardwareMap, "eh1");
eh2 = new MotorEx(hardwareMap, "eh2");
eh3 = new MotorEx(hardwareMap, "eh3");
ch0 = new MotorEx(hardwareMap, "ch0");
ch1 = new MotorEx(hardwareMap, "ch1");
ch2 = new MotorEx(hardwareMap, "ch2");
ch3 = new MotorEx(hardwareMap, "ch3");
}
}

4
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
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@@ -139,8 +139,8 @@ public class PrototypeRobot extends Robot {
//SERVO
depositorShoulder = hardwareMap.servo.get("depositor_shoulder");
depositorElbow = hardwareMap.servo.get("depositor_elbow");
// collectorShoulder = hardwareMap.servo.get("collector_shoulder");
// collectorElbow = hardwareMap.servo.get("collector_elbow");
collectorShoulder = hardwareMap.servo.get("collector_shoulder");
collectorElbow = hardwareMap.servo.get("collector_elbow");
depositor = hardwareMap.servo.get("depositor");
// input motors exactly as shown below

22
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/DriveMotorPortTestEngine.java Normal file
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@@ -0,0 +1,22 @@
package org.timecrafters.CenterStage.TeleOp.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.MotorPortTestRobot;
import org.timecrafters.CenterStage.Common.PrototypeRobot;
import org.timecrafters.CenterStage.TeleOp.TestingState.MotorPortTestingState;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp (name = "Motor Port Test")
public class DriveMotorPortTestEngine extends CyberarmEngine {
MotorPortTestRobot robot;
@Override
public void setup() {
robot = new MotorPortTestRobot("Hello World");
}
}

18
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java
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@@ -27,17 +27,27 @@ public class ArmPosTest extends CyberarmState {
@Override
public void exec(){
robot.collectorElbow.setPosition(armPos);
if (engine.gamepad1.a){
robot.depositorShoulder.setPosition(0);
robot.depositorElbow.setPosition(0);
robot.collectorShoulder.setPosition(0.75);
} else if (engine.gamepad1.y){
robot.collectorShoulder.setPosition(0.65);
}else if (engine.gamepad1.x){
robot.collectorShoulder.setPosition(0.4);
}
robot.depositorShoulder.setPosition(0.9);
robot.depositorElbow.setPosition(0.22);
if (engine.gamepad2.y && System.currentTimeMillis() - lastMeasuredTime > 500){
lastMeasuredTime = System.currentTimeMillis();
armPos += 0.05;
} else if (engine.gamepad2.a && System.currentTimeMillis() - lastMeasuredTime > 500){
lastMeasuredTime = System.currentTimeMillis();
armPos -= 0.05;
}
}
@Override
public void telemetry() {
engine.telemetry.addData("arm pos current", armPos);

26
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/TestingState/MotorPortTestingState.java Normal file
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@@ -0,0 +1,26 @@
package org.timecrafters.CenterStage.TeleOp.TestingState;
import org.timecrafters.CenterStage.Common.MotorPortTestRobot;
import org.timecrafters.CenterStage.Common.PrototypeRobot;
import dev.cyberarm.engine.V2.CyberarmState;
public class MotorPortTestingState extends CyberarmState {
MotorPortTestRobot robot;
private long lastMeasuredTime;
private int CurrentMotorPort;
public MotorPortTestingState(MotorPortTestRobot robot) {
this.robot = robot;
}
@Override
public void start() {
lastMeasuredTime = System.currentTimeMillis();
}
@Override
public void exec() {
}
}