TimeCrafters/CenterStage
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Begin useful stuff, need to work on game strategy

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This commit is contained in:
NerdyBirdy460
2023-10-26 20:29:13 -05:00
parent ef8b773bc3
commit 6eae3fa305
2 changed files with 13 additions and 15 deletions
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4
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/ProtoBotEngineSodi.java
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@@ -7,12 +7,12 @@ import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Autonomous- Sodi", group = "Simple Test")
@Autonomous(name = "Autonomous- Sodi", group = "Arm Sequence")
public class ProtoBotEngineSodi extends CyberarmEngine {
private ProtoBotSodi robot;
@Override
public void setup() {
this.robot = new ProtoBotSodi("Autonomous - Sodi");
this.robot = new ProtoBotSodi("Autonomous- Sodi");
this.robot.setup();
addState(new ProtoBotStateSodi(robot));

24
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -10,15 +10,16 @@ import org.timecrafters.CenterStage.Common.ProtoBotSodi;
public class ProtoBotStateSodi extends CyberarmState {
ProtoBotSodi robot;
private double avgVelocity, avgDrivePower;
private long lastTimeChecked;
private int testSequence;
private int targetPos;
private int currentPos;
private int totalDist; //
public ProtoBotStateSodi(ProtoBotSodi robot) {
this.robot = robot;
}
public void telemetry() {
// engine.telemetry.addData("Avg Drive Velocity", avgVelocity);
// engine.telemetry.addData("Avg Drive Power", avgDrivePower);
engine.telemetry.addData("Front Left Velocity", robot.flDrive.getVelocity());
engine.telemetry.addData("Front Right Velocity", robot.frDrive.getVelocity());
engine.telemetry.addData("Back Left Velocity", robot.blDrive.getVelocity());
@@ -30,16 +31,6 @@ public class ProtoBotStateSodi extends CyberarmState {
}
// public double getAvgDrivePower() {
// avgDrivePower = (robot.flDrive.motor.getPower() + robot.frDrive.motor.getPower() + robot.blDrive.motor.getPower() + robot.brDrive.motor.getPower())/4;
// return avgDrivePower;
// }
// public double getAvgVelocity() {
// avgVelocity = (robot.flDrive.getVelocity() + robot.frDrive.getVelocity() + robot.blDrive.getVelocity() + robot.brDrive.getVelocity())/4;
// return avgVelocity;
// }
@Override
public void init() {
robot.flDrive.motor.setPower(0);
@@ -59,10 +50,14 @@ public class ProtoBotStateSodi extends CyberarmState {
testSequence = 0;
}
@Override
public void exec() {
currentPos = robot.liftMotor.motor.getCurrentPosition();
//
// if (System.currentTimeMillis() - lastTimeChecked >= 500 && System.currentTimeMillis() - lastTimeChecked < 2500) {
// robot.flDrive.motor.setPower(0.5);
@@ -99,11 +94,14 @@ public class ProtoBotStateSodi extends CyberarmState {
switch (testSequence) {
case 1:
robot.liftMotor.motor.setPower(0.4);
robot.liftMotor.motor.setTargetPosition(targetPos);
//lift motor go up for some way
//wait for about 0.25
case 2:
robot.liftMotor.motor.setTargetPosition(targetPos);
//lift motor go down
//repeat