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Minibot drive, coding "correctly"

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This commit is contained in:
NerdyBirdy460
2023-11-08 15:40:19 -06:00
parent b259df0416
commit cbf4c6de0d
3 changed files with 75 additions and 31 deletions
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3
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MiniYTeleOPBot.java
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@@ -30,6 +30,9 @@ public class MiniYTeleOPBot extends Robot {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
CyberarmEngine engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Minibot Yellow");
imu = engine.hardwareMap.get(IMU.class, "imu");
IMU.Parameters parameters = new IMU.Parameters(

2
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
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@@ -15,7 +15,7 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
@Override
public void setup() {
this.robot = new MiniYTeleOPBot();
this.robot = new MiniYellowTeleOPv2();
this.robot.setup();
addState(new MiniYellowTeleOPv2(robot));

101
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java
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@@ -1,40 +1,81 @@
package org.timecrafters.CenterStage.TeleOp.States;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.IMU;
import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
import org.timecrafters.Library.Robot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.CyberarmState;
public class MiniYellowTeleOPv2 extends CyberarmState {
private final MiniYTeleOPBot robot;
public class MiniYellowTeleOPv2 extends Robot {
private final MiniYellowTeleOPv2 robot;
public HardwareMap hardwareMap;
public MotorEx flDrive, frDrive, blDrive, brDrive;
public IMU imu;
private double flPower, frPower, blPower, brPower;
private float lStickY, transitPercent = lStickY / 100;
private float lStickY, transitPercent;
public MiniYellowTeleOPv2(MiniYTeleOPBot robot) {
this.robot = robot;
public TimeCraftersConfiguration configuration;
public MiniYellowTeleOPv2(MiniYellowTeleOPv2 robot) {}
@Override
public void init () {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
CyberarmEngine engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Minibot Yellow");
imu = engine.hardwareMap.get(IMU.class, "imu");
IMU.Parameters parameters = new IMU.Parameters(
new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.LEFT,
RevHubOrientationOnRobot.UsbFacingDirection.UP));
imu.initialize(parameters);
imu.resetYaw();
//Motors
frDrive = new MotorEx(hardwareMap, "FrontRight");
flDrive = new MotorEx(hardwareMap, "FrontLeft");
brDrive = new MotorEx(hardwareMap, "BackRight");
blDrive = new MotorEx(hardwareMap, "BackLeft");
flDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD);
frDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD);
blDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD);
brDrive.motor.setDirection(DcMotorSimple.Direction.FORWARD);
flDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
frDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
blDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
brDrive.motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
flDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
blDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
brDrive.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
@Override
public void exec () {
transitPercent = -engine.gamepad1.left_stick_y * 100;
flPower = lStickY / 100;
robot.flDrive.motor.setPower(flPower);
}
}
@Override
public void telemetry() {
engine.telemetry.addData("FL Power", flPower);
}
@Override
public void init() {
flPower = 0;
robot.flDrive.motor.setPower(flPower);
}
@Override
public void exec() {
transitPercent = -engine.gamepad1.left_stick_y * 100;
flPower = lStickY / 100;
robot.flDrive.motor.setPower(flPower);
}
}