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RedCrab: Added rail leds

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Cyberarm
2024-02-08 20:33:21 -06:00
parent 1339cc8ebf
commit 71374a57ea
3 changed files with 114 additions and 33 deletions
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121
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -22,6 +22,8 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Action;
import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Variable;
import java.util.ArrayList;
import dev.cyberarm.drivers.EncoderCustomKB2040;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
@@ -87,7 +89,9 @@ public class RedCrabMinibot {
public final Servo leftClaw, rightClaw, clawWrist, droneLatch, hookArm;
public final DcMotorEx deadWheelXLeft, deadWheelXRight;
public final EncoderCustomKB2040 deadWheelYCenter;
public final DigitalChannel greenLED, redLED;
public final DigitalChannel ledTopGreen, ledTopRed, ledRail0Green, ledRail0Red, ledRail1Green, ledRail1Red, ledRail2Green, ledRail2Red,
ledRail3Green, ledRail3Red;
public final ArrayList<DigitalChannel> railGreenLEDs = new ArrayList<>(), railRedLEDs = new ArrayList<>();
public final boolean LED_OFF = true, LED_ON = false;
final CyberarmEngine engine;
@@ -252,13 +256,48 @@ public class RedCrabMinibot {
resetDeadWheels();
/// LED(s) ///
greenLED = engine.hardwareMap.get(DigitalChannel.class, "led_green"); // GREEN LED NOT WORKING
redLED = engine.hardwareMap.get(DigitalChannel.class, "led_red");
ledTopGreen = engine.hardwareMap.get(DigitalChannel.class, "led_top_green");
ledTopRed = engine.hardwareMap.get(DigitalChannel.class, "led_top_red");
// RED and GREEN are swapped for the 'new' LEDs, and I'm to lazy to fix the robot config
ledRail0Green = engine.hardwareMap.get(DigitalChannel.class, "led_rail_0_red");
ledRail0Red = engine.hardwareMap.get(DigitalChannel.class, "led_rail_0_green");
ledRail1Green = engine.hardwareMap.get(DigitalChannel.class, "led_rail_1_red");
ledRail1Red = engine.hardwareMap.get(DigitalChannel.class, "led_rail_1_green");
ledRail2Green = engine.hardwareMap.get(DigitalChannel.class, "led_rail_2_red");
ledRail2Red = engine.hardwareMap.get(DigitalChannel.class, "led_rail_2_green");
ledRail3Green = engine.hardwareMap.get(DigitalChannel.class, "led_rail_3_red");
ledRail3Red = engine.hardwareMap.get(DigitalChannel.class, "led_rail_3_green");
greenLED.setMode(DigitalChannel.Mode.OUTPUT);
redLED.setMode(DigitalChannel.Mode.OUTPUT);
greenLED.setState(LED_OFF);
redLED.setState(LED_ON);
railGreenLEDs.add(ledRail0Green);
railGreenLEDs.add(ledRail1Green);
railGreenLEDs.add(ledRail2Green);
railGreenLEDs.add(ledRail3Green);
railRedLEDs.add(ledRail0Red);
railRedLEDs.add(ledRail1Red);
railRedLEDs.add(ledRail2Red);
railRedLEDs.add(ledRail3Red);
ledTopGreen.setMode(DigitalChannel.Mode.OUTPUT);
ledTopRed.setMode(DigitalChannel.Mode.OUTPUT);
ledRail0Green.setMode(DigitalChannel.Mode.OUTPUT);
ledRail0Red.setMode(DigitalChannel.Mode.OUTPUT);
ledRail1Green.setMode(DigitalChannel.Mode.OUTPUT);
ledRail1Red.setMode(DigitalChannel.Mode.OUTPUT);
ledRail2Green.setMode(DigitalChannel.Mode.OUTPUT);
ledRail2Red.setMode(DigitalChannel.Mode.OUTPUT);
ledRail3Green.setMode(DigitalChannel.Mode.OUTPUT);
ledRail3Red.setMode(DigitalChannel.Mode.OUTPUT);
/// Turn off green LEDs and turn red ones on
ledTopGreen.setState(LED_OFF);
ledTopRed.setState(LED_ON);
for (DigitalChannel led : railGreenLEDs) {
led.setState(LED_OFF);
}
for (DigitalChannel led : railRedLEDs) {
led.setState(LED_ON);
}
// Bulk read from hubs
Utilities.hubsBulkReadMode(engine.hardwareMap, LynxModule.BulkCachingMode.MANUAL);
@@ -274,8 +313,16 @@ public class RedCrabMinibot {
public void shutdown() {
// Prevent LED(s) from being on while idle
greenLED.setMode(DigitalChannel.Mode.INPUT);
redLED.setMode(DigitalChannel.Mode.INPUT);
ledTopGreen.setMode(DigitalChannel.Mode.INPUT);
ledTopRed.setMode(DigitalChannel.Mode.INPUT);
ledRail0Green.setMode(DigitalChannel.Mode.INPUT);
ledRail0Red.setMode(DigitalChannel.Mode.INPUT);
ledRail1Green.setMode(DigitalChannel.Mode.INPUT);
ledRail1Red.setMode(DigitalChannel.Mode.INPUT);
ledRail2Green.setMode(DigitalChannel.Mode.INPUT);
ledRail2Red.setMode(DigitalChannel.Mode.INPUT);
ledRail3Green.setMode(DigitalChannel.Mode.INPUT);
ledRail3Red.setMode(DigitalChannel.Mode.INPUT);
}
public void reloadConfig() {
@@ -571,4 +618,60 @@ public class RedCrabMinibot {
return Utilities.isBetween(distanceMM, travelledDistanceMM - toleranceMM, travelledDistanceMM + toleranceMM);
}
public void ledController() {
if (autonomous) {
if (engine.runTime() < 20_000.0) { // KEEP CALM and CARRY ON
ledTopRed.setState(LED_OFF);
ledTopGreen.setState(LED_ON);
ledSetRailRedLEDs(LED_OFF);
ledSetRailGreenLEDs(LED_ON);
} else if (engine.runTime() < 25_000.0) { // RUNNING LOW ON TIME
ledTopRed.setState(LED_ON);
ledTopGreen.setState(LED_ON);
ledSetRailRedLEDs(LED_ON);
ledSetRailGreenLEDs(LED_ON);
} else { // 5 SECONDS LEFT!
ledTopRed.setState(LED_ON);
ledTopGreen.setState(LED_OFF);
ledSetRailRedLEDs(LED_ON);
ledSetRailGreenLEDs(LED_OFF);
}
} else {
if (engine.runTime() >= 90_000.0) { // LAUNCH DRONE and DO CHIN UP
ledTopRed.setState(LED_OFF);
ledTopGreen.setState(LED_ON);
ledSetRailRedLEDs(LED_OFF);
ledSetRailGreenLEDs(LED_ON);
} else if (engine.runTime() >= 80_000.0) { // GET READY
ledTopRed.setState(LED_ON);
ledTopGreen.setState(LED_ON);
ledSetRailRedLEDs(LED_ON);
ledSetRailGreenLEDs(LED_ON);
} else { // KEEP CALM and CARRY ON
ledTopRed.setState(LED_ON);
ledTopGreen.setState(LED_OFF);
ledSetRailRedLEDs(LED_ON);
ledSetRailGreenLEDs(LED_OFF);
}
}
}
public void ledSetRailGreenLEDs(boolean ledState) {
for (DigitalChannel led : railGreenLEDs) {
led.setState(ledState);
}
}
public void ledSetRailRedLEDs(boolean ledState) {
for (DigitalChannel led : railRedLEDs) {
led.setState(ledState);
}
}
}

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
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24
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java
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@@ -15,29 +15,7 @@ public abstract class RedCrabEngine extends CyberarmEngine {
robot.standardTelemetry();
if (robot.autonomous) {
if (runTime() < 20_000.0) { // KEEP CALM and CARRY ON
robot.redLED.setState(robot.LED_OFF);
robot.greenLED.setState(robot.LED_ON);
} else if (runTime() < 25_000.0) { // RUNNING LOW ON TIME
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_ON);
} else { // 5 SECONDS LEFT!
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_OFF);
}
} else {
if (runTime() >= 90_000.0) { // LAUNCH DRONE and DO CHIN UP
robot.redLED.setState(robot.LED_OFF);
robot.greenLED.setState(robot.LED_ON);
} else if (runTime() >= 80_000.0) { // GET READY
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_ON);
} else { // KEEP CALM and CARRY ON
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_OFF);
}
}
robot.ledController();
}
@Override