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prototyped black minibot control

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Cyberarm
2023-11-02 20:37:25 -05:00
parent cabb18ee19
commit bc8f159092
3 changed files with 98 additions and 0 deletions
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18
TeamCode/src/main/java/dev/cyberarm/minibots/black/BlackMinibot.java Normal file
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package dev.cyberarm.minibots.black;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.qualcomm.robotcore.hardware.HardwareMap;
import dev.cyberarm.engine.V2.CyberarmEngine;
public class BlackMinibot {
final public MotorEx leftDrive, RightDrive;
final private HardwareMap hardwareMap;
public BlackMinibot() {
hardwareMap = CyberarmEngine.instance.hardwareMap;
leftDrive = new MotorEx(hardwareMap, "leftDrive");
RightDrive = new MotorEx(hardwareMap, "rightDrive");
}
}

19
TeamCode/src/main/java/dev/cyberarm/minibots/black/engines/BlackMinibotTeleOpEngine.java Normal file
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package dev.cyberarm.minibots.black.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import dev.cyberarm.minibots.black.BlackMinibot;
import dev.cyberarm.minibots.black.states.BlackMinibotTeleOpState;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Cyberarm Black Minibot", group = "MINIBOT")
public class BlackMinibotTeleOpEngine extends CyberarmEngine {
private BlackMinibot minibot;
@Override
public void setup() {
minibot = new BlackMinibot();
addState(new BlackMinibotTeleOpState(minibot));
}
}

61
TeamCode/src/main/java/dev/cyberarm/minibots/black/states/BlackMinibotTeleOpState.java Normal file
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package dev.cyberarm.minibots.black.states;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.minibots.black.BlackMinibot;
public class BlackMinibotTeleOpState extends CyberarmState {
final private BlackMinibot minibot;
double maxPower = 0.2;
double forward = 0;
double right = 0;
double leftPower = 0.0;
double rightPower = 0.0;
public BlackMinibotTeleOpState(BlackMinibot minibot) {
this.minibot = minibot;
}
@Override
public void exec() {
forward = -engine.gamepad1.left_stick_y;
right = engine.gamepad1.right_stick_x;
leftPower = forward * maxPower;
rightPower = forward * maxPower;
// Simple TANK DRIVE
if (forward > -0.01 && forward < 0.01) {
if (right > 0) {
leftPower = right * maxPower;
rightPower = -right * maxPower;
} else if (right < 0) {
leftPower = -right * maxPower;
rightPower = right * maxPower;
}
} else {
if (right > 0) {
leftPower += right * maxPower;
rightPower -= right * maxPower;
} else if (right < 0) {
leftPower -= right * maxPower;
rightPower += right * maxPower;
}
}
minibot.leftDrive.motorEx.setPower(leftPower);
minibot.RightDrive.motorEx.setPower(rightPower);
}
@Override
public void telemetry() {
engine.telemetry.addLine("Cyberarm BLACK MINIBOT");
engine.telemetry.addData("Forward", forward);
engine.telemetry.addData("Right", right);
engine.telemetry.addLine();
engine.telemetry.addData("Max Power", maxPower);
engine.telemetry.addData("Left Power", leftPower);
engine.telemetry.addData("Right Power", rightPower);
}
}