From 60fbd98d486d14cec0a13c881cdfc122bf1e806d Mon Sep 17 00:00:00 2001 From: NerdyBirdy460 <111399933+NerdyBirdy460@users.noreply.github.com> Date: Tue, 28 Nov 2023 18:58:17 -0600 Subject: [PATCH] Trying to find right syntax for a parallel background state --- .../States/SodiPizzaAutoFirstDriveState.java | 46 ------------------- .../States/SodiPizzaAutoTurnState.java | 2 +- .../Common/SodiPizzaMinibotObject.java | 1 + 3 files changed, 2 insertions(+), 47 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java index 90aab3f..a67ecf2 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java @@ -70,51 +70,5 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{ setHasFinished(true); } - -/* //Stop moving and update lastMoveTime - if (robot.leftFront.getCurrentPosition() >= targetPos && drivePower > 0) { - - lastHalf = true; - - drivePower = 0; - - robot.leftFront.setPower(drivePower); - robot.leftBack.setPower(drivePower); - robot.rightFront.setPower(drivePower); - robot.rightBack.setPower(drivePower); - - lastMoveTime = System.currentTimeMillis(); - } - - //Move backwards from targetPos to 0 - if (robot.leftFront.getCurrentPosition() >= targetPos && drivePower == 0 - && System.currentTimeMillis() - lastMoveTime >= 500 && lastHalf) { - - robot.leftFront.setTargetPosition(0); - robot.leftBack.setTargetPosition(0); - robot.rightFront.setTargetPosition(0); - robot.rightBack.setTargetPosition(0); - - drivePower = -0.5; - - robot.leftFront.setPower(drivePower); - robot.leftBack.setPower(drivePower); - robot.rightFront.setPower(drivePower); - robot.rightBack.setPower(drivePower); - } */ - - /* if (robot.leftFront.getCurrentPosition() < 1250 && robot.leftFront.getCurrentPosition() >= targetPos && - 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); - } -*/ } } diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java index 6ad25f6..47da050 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java @@ -7,7 +7,7 @@ import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject; import dev.cyberarm.engine.V2.CyberarmState; public class SodiPizzaAutoTurnState extends CyberarmState { - final private SodiPizzaMinibotObject robot = SodiPizzaMinibotObject(); + final private SodiPizzaMinibotObject robot = new SodiPizzaMinibotObject(); final private String groupName, actionName; private long lastMoveTime; private double turnSpeedRaw, turnSpeed; diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java index 9421567..69bb832 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java @@ -69,5 +69,6 @@ public class SodiPizzaMinibotObject extends Robot { shoulder = engine.hardwareMap.servo.get("arm"); gripper = engine.hardwareMap.servo.get("gripper"); + //readyToTurn } }