diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java index 7bb1b33..6b35533 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java @@ -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 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); + } + } } diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json index a036019..35e3b59 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json @@ -1 +1 @@ -{"config":{"created_at":"2023-12-11 09:31:55 -0600","updated_at":"2024-02-01 20:00:47 -0600","spec_version":2,"revision":1220},"data":{"groups":[{"name":"Autonomous_BLUE_Audience","actions":[{"name":"00-00","comment":"@ClawArmMove - 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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