TimeCrafters/CenterStage
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Minibot drive test:Added stop and reset encoder on all motors, need to work on game strategy

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This commit is contained in:
NerdyBirdy460
2023-10-30 18:21:58 -05:00
parent 74093473b8
commit d3b6ac873e
2 changed files with 38 additions and 34 deletions
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57
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -1,5 +1,6 @@
package org.timecrafters.CenterStage.Autonomous.States;
import com.arcrobotics.ftclib.hardware.motors.Motor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@@ -28,15 +29,23 @@ public class ProtoBotStateSodi extends CyberarmState {
engine.telemetry.addData("Front Right Power", robot.frDrive.motor.getPower());
engine.telemetry.addData("Back Left Power", robot.blDrive.motor.getPower());
engine.telemetry.addData("Back Right Power", robot.brDrive.motor.getPower());
engine.telemetry.addData("FL Position",robot.flDrive.motor.getCurrentPosition());
engine.telemetry.addData("Test Sequence", testSequence);
}
@Override
public void start() {
testSequence = 0;
}
@Override
public void init() {
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);
//
// robot.grabJaw.setPosition(0);
@@ -47,7 +56,7 @@ public class ProtoBotStateSodi extends CyberarmState {
// robot.dropJaw.setPosition(0);
lastTimeChecked = System.currentTimeMillis();
testSequence = 0;
@@ -63,37 +72,27 @@ public class ProtoBotStateSodi extends CyberarmState {
testSequence = 1;
}
switch (testSequence) {
case 1:
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:
if (testSequence == 1) {
robot.flDrive.motor.setTargetPosition(1000);
robot.frDrive.motor.setTargetPosition(1000);
robot.blDrive.motor.setTargetPosition(1000);
robot.brDrive.motor.setTargetPosition(1000);
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;
}
}

15
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
View File

@@ -52,11 +52,16 @@ public class ProtoBotSodi extends Robot {
blDrive = new MotorEx(hardwareMap, "BackLeft");
// 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.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);
// liftMotor.motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
flDrive.motor.setDirection(FORWARD);
// frDrive.motor.setDirection(REVERSE);