TimeCrafters/CenterStage
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Still working on making the Controller Hub recognize my programs

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This commit is contained in:
NerdyBirdy460
2023-10-12 20:45:25 -05:00
parent eab3aa5c2f
commit db891cd459
3 changed files with 38 additions and 9 deletions
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5
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/ProtoBotEngineSodi.java
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@@ -1,5 +1,6 @@
package org.timecrafters.CenterStage.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.ProtoBotSodi;
import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
@@ -7,7 +8,7 @@ import org.timecrafters.CenterStage.Autonomous.States.ProtoBotStateSodi;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Rigel", group = "Prototype Sodi")
@TeleOp(name = "Rigel", group = "Robot")
public class ProtoBotEngineSodi extends CyberarmEngine {
private ProtoBotSodi robot;
@Override
@@ -15,6 +16,6 @@ public class ProtoBotEngineSodi extends CyberarmEngine {
this.robot = new ProtoBotSodi();
this.robot.setup();
addState(new ProtoBotStateSodi(robot));
addState(new ProtoBotStateSodi());
}
}

30
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -9,7 +9,7 @@ import org.timecrafters.CenterStage.Common.ProtoBotSodi;
public class ProtoBotStateSodi extends CyberarmState {
ProtoBotSodi robot;
public ProtoBotStateSodi(ProtoBotSodi robot) {
public ProtoBotStateSodi() {
this.robot = robot;
}
public void telemetry() {
@@ -28,8 +28,36 @@ public class ProtoBotStateSodi extends CyberarmState {
//Servos
robot.jaw.setDirection(Servo.Direction.FORWARD);
}
@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.bloodWorm.motor.setPower(0);
}
@Override
public void exec() {
if (System.currentTimeMillis() >= 500 && System.currentTimeMillis() < 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.bloodWorm.motor.setPower(0.5);
} else if (System.currentTimeMillis() >= 2500 && System.currentTimeMillis() < 3500) {
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.bloodWorm.motor.setPower(-0.5);
} else {
robot.flDrive.motor.setPower(0);
robot.frDrive.motor.setPower(0);
robot.blDrive.motor.setPower(0);
robot.brDrive.motor.setPower(0);
robot.bloodWorm.motor.setPower(0);
}
}
}

12
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
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@@ -31,14 +31,14 @@ public class ProtoBotSodi extends Robot {
@Override
public void setup() {
configuration = new TimeCraftersConfiguration("Rigel");
configuration = new TimeCraftersConfiguration("Robbie");
//Motors
flDrive = new MotorEx(hardwareMap, "FrontLeftDrive");
frDrive = new MotorEx(hardwareMap, "FrontRightDrive");
blDrive = new MotorEx(hardwareMap, "BackLeftDrive");
brDrive = new MotorEx(hardwareMap, "BackRightDrive");
bloodWorm = new MotorEx(hardwareMap, "Proboscis");
flDrive = new MotorEx(hardwareMap, "frontLeft");
frDrive = new MotorEx(hardwareMap, "frontRight");
blDrive = new MotorEx(hardwareMap, "backLeft");
brDrive = new MotorEx(hardwareMap, "backRight");
bloodWorm = new MotorEx(hardwareMap, "lift");
//The motor bloodWorm is the one that raises the deliverer.
//The reason it's called bloodworm is because of what bloodworms are. Better left unsaid.