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WIP: RevHubTestSuite: Refactored a bit, servo testing works

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Cyberarm
2023-09-26 20:35:43 -05:00
parent 03e144fe40
commit 56ac5882ff
7 changed files with 29 additions and 27 deletions
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15
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/RevHubTestSuiteRobot.java
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@@ -12,6 +12,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.timecrafters.Library.Robot;
import org.timecrafters.diagnostics.rev_hub_test_suite.states.RevTestSuiteTestState;
import java.util.ArrayList;
@@ -22,6 +23,8 @@ public class RevHubTestSuiteRobot extends Robot {
private HardwareMap hardwareMap;
public boolean testingControlHub = true;
public RevTestSuiteTestState.STAGE stage = RevTestSuiteTestState.STAGE.NONE;
public final ArrayList<String> reports = new ArrayList<>();
public ArrayList<MotorEx> controlHubMotors = new ArrayList<>(), expansionHubMotors = new ArrayList<>();
public ArrayList<ServoEx> controlHubServos = new ArrayList<>(), expansionHubServos = new ArrayList<>();
public ArrayList<AnalogInput> controlHubAnalogSensors = new ArrayList<>(), expansionHubAnalogSensors = new ArrayList<>();
@@ -43,12 +46,12 @@ public class RevHubTestSuiteRobot extends Robot {
controlHubMotors.add(new MotorEx(hardwareMap, "c_motor_3"));
// // SERVOS
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_0", 0.0, 180.0, AngleUnit.DEGREES));
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_1", 0.0, 180.0, AngleUnit.DEGREES));
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_2", 0.0, 180.0, AngleUnit.DEGREES));
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_3", 0.0, 180.0, AngleUnit.DEGREES));
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_4", 0.0, 180.0, AngleUnit.DEGREES));
// controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_5", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_0", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_1", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_2", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_3", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_4", 0.0, 180.0, AngleUnit.DEGREES));
controlHubServos.add(new SimpleServo(hardwareMap, "c_servo_5", 0.0, 180.0, AngleUnit.DEGREES));
//
// // ANALOG SENSORS
// controlHubAnalogSensors.add(hardwareMap.analogInput.get("c_analog_0"));

2
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteAnalogTestsState.java
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@@ -28,7 +28,7 @@ public class RevHubTestSuiteAnalogTestsState extends RevTestSuiteTestState {
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.ANALOG_SENSOR.ordinal()) {
if (robot.stage.ordinal() > STAGE.ANALOG_SENSOR.ordinal()) {
testComplete = true;
}
}

2
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteDigitalTestsState.java
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@@ -29,7 +29,7 @@ public class RevHubTestSuiteDigitalTestsState extends RevTestSuiteTestState {
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.DIGITAL_SENSOR.ordinal()) {
if (robot.stage.ordinal() > STAGE.DIGITAL_SENSOR.ordinal()) {
testComplete = true;
}
}

2
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteI2CTestsState.java
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@@ -32,7 +32,7 @@ public class RevHubTestSuiteI2CTestsState extends RevTestSuiteTestState {
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.I2C_SENSOR.ordinal()) {
if (robot.stage.ordinal() > STAGE.I2C_SENSOR.ordinal()) {
testComplete = true;
}
}

8
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteMotorTestsState.java
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@@ -43,7 +43,7 @@ public class RevHubTestSuiteMotorTestsState extends RevTestSuiteTestState {
if (testComplete)
return;
switch (stage) {
switch (robot.stage) {
case MOTOR_ENCODER_STEADY: {
test_encoder_steady();
break;
@@ -70,7 +70,7 @@ public class RevHubTestSuiteMotorTestsState extends RevTestSuiteTestState {
}
}
if (stage.ordinal() > STAGE.MOTOR_BRAKING_MODE.ordinal()) {
if (robot.stage.ordinal() > STAGE.MOTOR_BRAKING_MODE.ordinal()) {
testComplete = true;
}
}
@@ -242,7 +242,7 @@ public class RevHubTestSuiteMotorTestsState extends RevTestSuiteTestState {
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (stage != STAGE.MOTOR_BRAKING_MODE) {
if (robot.stage != STAGE.MOTOR_BRAKING_MODE) {
return;
}
@@ -283,7 +283,7 @@ public class RevHubTestSuiteMotorTestsState extends RevTestSuiteTestState {
engine.telemetry.addLine();
}
if (stage == STAGE.MOTOR_BRAKING_MODE) {
if (robot.stage == STAGE.MOTOR_BRAKING_MODE) {
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if Motor " + motor_index + " is BRAKING.");
engine.telemetry.addLine();

6
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteServoTestsState.java
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@@ -29,7 +29,7 @@ public class RevHubTestSuiteServoTestsState extends RevTestSuiteTestState {
test_servos();
if (stage.ordinal() > STAGE.SERVO_SWEEP.ordinal()) {
if (robot.stage.ordinal() > STAGE.SERVO_SWEEP.ordinal()) {
testComplete = true;
}
}
@@ -57,7 +57,7 @@ public class RevHubTestSuiteServoTestsState extends RevTestSuiteTestState {
}
public void buttonUp(Gamepad gamepad, String button) {
if (stage != STAGE.SERVO_SWEEP) {
if (robot.stage != STAGE.SERVO_SWEEP) {
return;
}
@@ -80,7 +80,7 @@ public class RevHubTestSuiteServoTestsState extends RevTestSuiteTestState {
engine.telemetry.addLine("SERVO CONTROLLER TESTING");
engine.telemetry.addLine();
if (stage == STAGE.SERVO_SWEEP) {
if (robot.stage == STAGE.SERVO_SWEEP) {
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if Servo " + servo_index + " is ROTATING.");
engine.telemetry.addLine();

21
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevTestSuiteTestState.java
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@@ -27,8 +27,6 @@ public class RevTestSuiteTestState extends CyberarmState {
final String TAG = "RevTestSuite|State";
RevHubTestSuiteRobot robot;
protected STAGE stage = STAGE.NONE;
protected final ArrayList<String> reports = new ArrayList<>();
protected boolean testComplete = false;
public RevTestSuiteTestState(RevHubTestSuiteRobot robot) {
super();
@@ -40,36 +38,37 @@ public class RevTestSuiteTestState extends CyberarmState {
public void exec() {
if (testComplete && engine.gamepad1.guide) {
setHasFinished(true);
testComplete = false;
}
}
void report(String reason) {
synchronized (reports) {
reports.add(reason);
synchronized (robot.reports) {
robot.reports.add(reason);
}
}
public void nextStage() {
if (stage == STAGE.COMPLETE)
if (robot.stage == STAGE.COMPLETE)
return;
stage = STAGE.values()[stage.ordinal() + 1];
robot.stage = STAGE.values()[robot.stage.ordinal() + 1];
}
@Override
public void telemetry() {
if (testComplete) {
engine.telemetry.addLine("TESTING");
} else {
engine.telemetry.addLine("PRESS `GUIDE` TO CONTINUE");
} else {
engine.telemetry.addLine("TESTING");
}
engine.telemetry.addLine();
engine.telemetry.addData("STAGE", stage);
engine.telemetry.addData("STAGE", robot.stage);
engine.telemetry.addLine();
engine.telemetry.addLine("REPORTS");
synchronized (reports) {
for (String report : reports) {
synchronized (robot.reports) {
for (String report : robot.reports) {
engine.telemetry.addLine(report);
}
}