TimeCrafters/CenterStage
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New drive test config, need to work on game strategy

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This commit is contained in:
NerdyBirdy460
2023-10-28 12:03:12 -05:00
parent 84fe96fa6e
commit 74093473b8
3 changed files with 106 additions and 87 deletions
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54
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java
View File

@@ -1,5 +1,9 @@
package org.timecrafters.CenterStage.Autonomous.States;
/**BEGAN WITH 43 LINES**/
import com.arcrobotics.ftclib.hardware.motors.Motor;
import org.timecrafters.CenterStage.Common.ProtoBotSodi;
import org.timecrafters.CenterStage.Common.PrototypeRobot;
@@ -10,12 +14,24 @@ public class ArmStateSodi extends CyberarmState {
private final boolean stateDisabled;
ProtoBotSodi robot;
private int testSequence;
private int targetPos;
private int currentPos;
private int totalDist;
public ArmStateSodi(ProtoBotSodi robot, String groupName, String actionName) {
this.robot = robot;
this.stateDisabled = !robot.configuration.action(groupName, actionName).enabled;
}
private int getTotalDist() {
int totalDist = targetPos - currentPos;
return totalDist;
}
@Override
public void start() {
//add variables that need to be reinitialized
@@ -23,18 +39,34 @@ public class ArmStateSodi extends CyberarmState {
}
@Override
public void exec() {
if (robot.liftMotor.motor.getCurrentPosition() < 0) {
robot.liftMotor.motor.setPower(0);
}
if (robot.liftMotor.motor.getCurrentPosition() >= 0 && robot.liftMotor.motor.getCurrentPosition() <= 49) {
}
if (robot.liftMotor.motor.getCurrentPosition() >= 50 && robot.liftMotor.motor.getCurrentPosition() <= 250) {
}
public void init() {
}
@Override
public void exec() {
// if (robot.liftMotor.motor.getCurrentPosition() >= 2800 &&
// Math.abs(robot.liftMotor.motor.getPower()) != robot.liftMotor.motor.getPower()) {
// robot.liftMotor.motor.setPower(0);
// }
//
// if (robot.liftMotor.motor.getCurrentPosition() < 0 &&
// Math.abs(robot.liftMotor.motor.getPower()) != robot.liftMotor.motor.getPower()) {
// robot.liftMotor.motor.setPower(0);
// }
//
// if (robot.liftMotor.motor.getCurrentPosition() >= 0 &&
// robot.liftMotor.motor.getCurrentPosition() <= 50) {
//
// }
//
// if (robot.liftMotor.motor.getCurrentPosition() >= 50 &&
// robot.liftMotor.motor.getCurrentPosition() <= 250) {
//
// }
//
//
}
}

91
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
View File

@@ -14,7 +14,7 @@ public class ProtoBotStateSodi extends CyberarmState {
private int testSequence;
private int targetPos;
private int currentPos;
private int totalDist; //
private int totalDist;
public ProtoBotStateSodi(ProtoBotSodi robot) {
this.robot = robot;
@@ -37,14 +37,14 @@ public class ProtoBotStateSodi extends CyberarmState {
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
robot.liftMotor.motor.setPower(0);
robot.grabJaw.setPosition(0);
robot.grabElbow.setPosition(0);
robot.grabShoulder.setPosition(0);
robot.dropShoulder.setPosition(0);
robot.dropElbow.setPosition(0);
robot.dropJaw.setPosition(0);
// robot.liftMotor.motor.setPower(0);
//
// robot.grabJaw.setPosition(0);
// robot.grabElbow.setPosition(0);
// robot.grabShoulder.setPosition(0);
// robot.dropShoulder.setPosition(0);
// robot.dropElbow.setPosition(0);
// robot.dropJaw.setPosition(0);
lastTimeChecked = System.currentTimeMillis();
testSequence = 0;
@@ -57,55 +57,42 @@ public class ProtoBotStateSodi extends CyberarmState {
@Override
public void exec() {
currentPos = robot.liftMotor.motor.getCurrentPosition();
//
// if (System.currentTimeMillis() - lastTimeChecked >= 500 && System.currentTimeMillis() - lastTimeChecked < 2500) {
// robot.flDrive.motor.setPower(0.5);
// robot.frDrive.motor.setPower(0.5);
// robot.blDrive.motor.setPower(0.5);
// robot.brDrive.motor.setPower(0.5);
// robot.liftMotor.motor.setPower(0.5);
// } else if (System.currentTimeMillis() - lastTimeChecked >= 2500 && System.currentTimeMillis() - lastTimeChecked < 4500) {
// robot.flDrive.motor.setPower(-0.5);
// robot.frDrive.motor.setPower(-0.5);
// robot.blDrive.motor.setPower(-0.5);
// robot.brDrive.motor.setPower(-0.5);
// robot.liftMotor.motor.setPower(-0.5);
// } else if (System.currentTimeMillis() - lastTimeChecked >= 4500 && System.currentTimeMillis() - lastTimeChecked < 6500) {
// robot.flDrive.motor.setPower(0.5);
// robot.frDrive.motor.setPower(0.5);
// robot.blDrive.motor.setPower(-0.5);
// robot.brDrive.motor.setPower(-0.5);
// robot.liftMotor.motor.setPower(0);
// } else if (System.currentTimeMillis() - lastTimeChecked >= 6500 && System.currentTimeMillis() - lastTimeChecked < 8500) {
// robot.flDrive.motor.setPower(-0.5);
// robot.frDrive.motor.setPower(-0.5);
// robot.blDrive.motor.setPower(0.5);
// robot.brDrive.motor.setPower(0.5);
// robot.liftMotor.motor.setPower(0);
// } else if (System.currentTimeMillis() - lastTimeChecked >= 8600){
// robot.flDrive.motor.setPower(0);
// robot.frDrive.motor.setPower(0);
// robot.blDrive.motor.setPower(0);
// robot.brDrive.motor.setPower(0);
// robot.liftMotor.motor.setPower(0);
// setHasFinished(true);
// }
currentPos = robot.flDrive.motor.getCurrentPosition();
if (testSequence < 1) {
testSequence = 1;
}
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
robot.flDrive.motor.setTargetPosition(500);
robot.frDrive.motor.setTargetPosition(500);
robot.blDrive.motor.setTargetPosition(500);
robot.brDrive.motor.setTargetPosition(500);
if (robot.flDrive.motor.getCurrentPosition() < robot.flDrive.motor.getTargetPosition() - 50) {
robot.flDrive.motor.setPower(0.5 * (robot.flDrive.motor.getTargetPosition() - robot.flDrive.motor.getCurrentPosition()));
robot.frDrive.motor.setPower(0.5 * (robot.frDrive.motor.getTargetPosition() - robot.frDrive.motor.getCurrentPosition()));
robot.blDrive.motor.setPower(0.5 * (robot.blDrive.motor.getTargetPosition() - robot.blDrive.motor.getCurrentPosition()));
robot.brDrive.motor.setPower(0.5 * (robot.brDrive.motor.getTargetPosition() - robot.brDrive.motor.getCurrentPosition()));
}
else if (robot.flDrive.motor.getCurrentPosition() < robot.flDrive.motor.getTargetPosition() + 50 ||
robot.flDrive.motor.getCurrentPosition() > robot.flDrive.motor.getTargetPosition() - 50) {
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
// testSequence = 2;
}
break;
// case 2:
case 2:
robot.liftMotor.motor.setTargetPosition(targetPos);
//lift motor go down
//repeat
//wait for about 0.25
}

48
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
View File

@@ -25,8 +25,8 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class ProtoBotSodi extends Robot {
public HardwareMap hardwareMap;
public MotorEx flDrive, frDrive, blDrive, brDrive, liftMotor;
public Servo grabJaw, grabElbow, grabShoulder, dropShoulder, dropElbow, dropJaw;
public MotorEx flDrive, frDrive, blDrive, brDrive /*liftMotor*/;
// public Servo grabJaw, grabElbow, grabShoulder, dropShoulder, dropElbow, dropJaw;
private String string;
private CyberarmEngine engine;
@@ -43,40 +43,40 @@ public class ProtoBotSodi extends Robot {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
this.engine = CyberarmEngine.instance;
TimeCraftersConfiguration configuration = new TimeCraftersConfiguration("Robbie");
// TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();
//Motors
frDrive = new MotorEx(hardwareMap, "FrontRight");
flDrive = new MotorEx(hardwareMap, "FrontLeft");
brDrive = new MotorEx(hardwareMap, "BackRight");
blDrive = new MotorEx(hardwareMap, "BackLeft");
liftMotor = new MotorEx(hardwareMap, "Lift");
// liftMotor = new MotorEx(hardwareMap, "Lift");
flDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
frDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
blDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
brDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
liftMotor.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// flDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// frDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// blDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// brDrive.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// liftMotor.motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
flDrive.motor.setDirection(FORWARD);
frDrive.motor.setDirection(REVERSE);
// frDrive.motor.setDirection(REVERSE);
blDrive.motor.setDirection(FORWARD);
brDrive.motor.setDirection(REVERSE);
// brDrive.motor.setDirection(REVERSE);
//Servos
grabJaw = hardwareMap.servo.get("GrabJaw");
grabElbow = hardwareMap.servo.get("GrabElbow");
grabShoulder = hardwareMap.servo.get("GrabShoulder");
dropShoulder = hardwareMap.servo.get("DropShoulder");
dropElbow = hardwareMap.servo.get("DropElbow");
dropJaw = hardwareMap.servo.get("DropJaw");
grabElbow.setDirection(Servo.Direction.FORWARD);
grabJaw.setDirection(Servo.Direction.FORWARD);
grabShoulder.setDirection(Servo.Direction.FORWARD);
dropShoulder.setDirection(Servo.Direction.FORWARD);
dropElbow.setDirection(Servo.Direction.FORWARD);
dropJaw.setDirection(Servo.Direction.FORWARD);
// grabJaw = hardwareMap.servo.get("GrabJaw");
// grabElbow = hardwareMap.servo.get("GrabElbow");
// grabShoulder = hardwareMap.servo.get("GrabShoulder");
// dropShoulder = hardwareMap.servo.get("DropShoulder");
// dropElbow = hardwareMap.servo.get("DropElbow");
// dropJaw = hardwareMap.servo.get("DropJaw");
//
// grabElbow.setDirection(Servo.Direction.FORWARD);
// grabJaw.setDirection(Servo.Direction.FORWARD);
// grabShoulder.setDirection(Servo.Direction.FORWARD);
// dropShoulder.setDirection(Servo.Direction.FORWARD);
// dropElbow.setDirection(Servo.Direction.FORWARD);
// dropJaw.setDirection(Servo.Direction.FORWARD);
}