TimeCrafters/CenterStage
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Who last configured Pizzabot? >:(

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Anyway Pizza bot autonomous testing has been mostly resolved.
This commit is contained in:
NerdyBirdy460
2023-11-23 18:46:46 -06:00
parent 198ea7c9c4
commit 43e59d8f6d
4 changed files with 85 additions and 30 deletions
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8
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
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@@ -3,7 +3,8 @@ 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 org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoFirstDriveState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
import dev.cyberarm.engine.V2.CyberarmEngine;
@@ -11,7 +12,8 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiPizzaAutoDriveState());
addState(new SodiPizzaAutoArmState());
// addState(new SodiPizzaAutoFirstDriveState());
// addState(new SodiPizzaAutoArmState());
addState(new SodiPizzaWheelTest());
}
}

27
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java → TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
View File

@@ -1,17 +1,15 @@
package org.timecrafters.CenterStage.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoDriveState extends CyberarmState{
public class SodiPizzaAutoFirstDriveState extends CyberarmState{
final private SodiPizzaMinibotObject robot;
final private String groupName, actionName;
private long lastMoveTime;
public SodiPizzaAutoDriveState() {
public SodiPizzaAutoFirstDriveState() {
groupName = " ";
actionName = " ";
robot = new SodiPizzaMinibotObject();
@@ -46,27 +44,12 @@ public class SodiPizzaAutoDriveState extends CyberarmState{
robot.leftBack.setPower(0.5);
robot.rightBack.setPower(0.5);
}
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) {
} else {
robot.leftFront.setPower(0);
robot.rightFront.setPower(0);
robot.leftBack.setPower(0);
robot.rightFront.setPower(0);
robot.rightBack.setPower(0);
setHasFinished(true);
}
}

72
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaWheelTest.java
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@@ -1,5 +1,7 @@
package org.timecrafters.CenterStage.Autonomous.States;
import android.annotation.SuppressLint;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
@@ -7,6 +9,8 @@ import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaWheelTest extends CyberarmState {
private SodiPizzaMinibotObject robot;
private String groupName, actionName;
private long lastMoveTime;
private double lDrivePower, rDrivePower;
public SodiPizzaWheelTest() {
groupName = " ";
@@ -14,10 +18,76 @@ public class SodiPizzaWheelTest extends CyberarmState {
robot = new SodiPizzaMinibotObject();
robot.setup();
}
private double getrDrivePower() {
rDrivePower = lDrivePower * 0.75;
return rDrivePower;
}
@Override
public void telemetry() {
engine.telemetry.addData("Current Pos? ", robot.leftFront.getCurrentPosition());
engine.telemetry.addData("Last Moved Time? ", lastMoveTime);
engine.telemetry.addData("System Current Time? ", System.currentTimeMillis());
engine.telemetry.addData("Diff in Right/Left Front Wheel Power? ", robot.rightFront.getPower() - robot.leftFront.getPower());
}
@Override
public void start() {
lastMoveTime = System.currentTimeMillis();
lDrivePower = 0;
rDrivePower = 0;
robot.leftFront.setPower(lDrivePower);
robot.leftBack.setPower(lDrivePower);
robot.rightFront.setPower(rDrivePower);
robot.rightBack.setPower(rDrivePower);
}
@SuppressLint("SuspiciousIndentation")
@Override
public void exec() {
/* lDrivePower = 0.3;
robot.leftFront.setPower(lDrivePower);
robot.leftBack.setPower(lDrivePower);
robot.rightFront.setPower(lDrivePower);
robot.rightBack.setPower(lDrivePower);
*/
if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10 && System.currentTimeMillis() - lastMoveTime >= 3000) {
robot.leftFront.setTargetPosition(500);
robot.leftBack.setTargetPosition(500);
robot.rightFront.setTargetPosition(500);
robot.rightBack.setTargetPosition(500);
lDrivePower = 0.3;
rDrivePower = lDrivePower * 0.75;
robot.leftFront.setPower(lDrivePower);
robot.leftBack.setPower(lDrivePower);
robot.rightFront.setPower(rDrivePower);
robot.rightBack.setPower(rDrivePower);
lastMoveTime = System.currentTimeMillis();
} else if (robot.leftFront.getCurrentPosition() >= 500 && System.currentTimeMillis() - lastMoveTime >= 3000) {
robot.leftFront.setTargetPosition(0);
robot.leftBack.setTargetPosition(0);
robot.rightFront.setTargetPosition(0);
robot.rightBack.setTargetPosition(0);
lDrivePower = -0.3;
rDrivePower = lDrivePower * 0.75;
robot.leftFront.setPower(lDrivePower);
robot.leftBack.setPower(lDrivePower);
robot.rightFront.setPower(rDrivePower);
robot.rightBack.setPower(rDrivePower);
lastMoveTime = System.currentTimeMillis();
}
}
}

8
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
View File

@@ -48,10 +48,10 @@ public class SodiPizzaMinibotObject extends Robot {
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.setDirection(DcMotorSimple.Direction.REVERSE);
leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
rightFront.setDirection(DcMotorSimple.Direction.FORWARD);
rightBack.setDirection(DcMotorSimple.Direction.FORWARD);
leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);