TimeCrafters/CenterStage
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Needs testing, feel good about this one ¯\_(ツ)_/¯

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This commit is contained in:
NerdyBirdy460
2023-11-28 20:30:11 -06:00
parent 60fbd98d48
commit d2632c854f
3 changed files with 13 additions and 5 deletions
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10
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
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@@ -9,18 +9,18 @@ import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoTurnState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.CyberarmState;
@Autonomous(name = "Sodi's Pizza Box Bot Auto", group = "")
public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiPizzaAutoFirstDriveState());
addState(new SodiPizzaAutoTurnState());
if (blackboardGetInt("readyToTurn") == 0) {
addTask(new SodiPizzaAutoFirstDriveState());
}
// addState(new SodiPizzaAutoSecDriveState());
// addState(new SodiPizzaAutoArmState());
// addState(new SodiPizzaWheelTest());
}
}

6
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
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@@ -15,6 +15,12 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
private double targetRot;
private double currentRot;
private double neededRot = targetRot - currentRot;
private double rightTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 90;
private double rightTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 90;
private double backTurnCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) + 180;
private double backTurnCCW = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) - 180;
/** Rot = rotation **/
public SodiPizzaAutoTurnState() {

2
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
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@@ -70,5 +70,7 @@ public class SodiPizzaMinibotObject extends Robot {
gripper = engine.hardwareMap.servo.get("gripper");
//readyToTurn
}
}