TimeCrafters/CenterStage
1
0
Fork 0
mirror of https://github.com/TimeCrafters/CenterStage synced 2025-12-15 08:42:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

Began Pizza bot autonomous

Browse Source
This commit is contained in:
NerdyBirdy460
2023-11-16 20:41:55 -06:00
parent 9fe9e8a2dc
commit 611c6483e5
3 changed files with 57 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
View File

@@ -1,10 +1,15 @@
package org.timecrafters.CenterStage.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoDriveState;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Sodi's Pizza Box Bot Auto", group = "")
public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiPizzaAutoDriveState());
}
}

36
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoDriveState.java Normal file
View File

@@ -0,0 +1,36 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoDriveState extends CyberarmState{
final private SodiPizzaMinibotObject robot;
final private String groupName, actionName;
public SodiPizzaAutoDriveState() {
groupName = " ";
actionName = " ";
robot = new SodiPizzaMinibotObject();
robot.setup();
}
@Override
public void exec() {
robot.flDrive.setTargetPosition(2800);
if (robot.flDrive.getCurrentPosition() < robot.flDrive.getTargetPosition()) {
robot.flDrive.setPower(0.75);
robot.frDrive.setPower(0.75);
robot.blDrive.setPower(0.75);
robot.brDrive.setPower(0.75);
} else {
robot.flDrive.setPower(0);
robot.frDrive.setPower(0);
robot.blDrive.setPower(0);
robot.brDrive.setPower(0);
}
if (robot.flDrive.getPower() == 0 && robot.flDrive.getCurrentPosition() >= robot.flDrive.getTargetPosition()) {
setHasFinished(true);
}
}
}

15
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
View File

@@ -18,6 +18,18 @@ public class SodiPizzaMinibotObject extends Robot {
public IMU imu;
private String string;
public static double GRIPPER_CLOSED = 0.333; // ~90 degrees
public static double GRIPPER_OPEN = 0.75; // ~205 degrees
public static double ARM_COLLECT = 0.0; // ~? degrees
public static double ARM_PRECOLLECT = 0.05; // ~? degrees
public static double ARM_DELIVER = 0.28; // ~? degrees
public static double ARM_STOW = 0.72; // ~? degrees
public static double ARM_HOVER_5_STACK = 0.10;
public static double ARM_HOVER_4_STACK = 0.08;
public static double ARM_HOVER_3_STACK = 0.07;
public static double ARM_HOVER_2_STACK = 0.06;
private CyberarmEngine engine;
public TimeCraftersConfiguration configuration;
@@ -35,6 +47,9 @@ public class SodiPizzaMinibotObject extends Robot {
blDrive = engine.hardwareMap.dcMotor.get("BL Drive");
brDrive = engine.hardwareMap.dcMotor.get("BR Drive");
//Servo Defining
shoulder = engine.hardwareMap.servo.get("Shoulder");
hand = engine.hardwareMap.servo.get("Hand");
}
}