TimeCrafters/CenterStage
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worked on righting the sequence states for the servos

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This commit is contained in:
SpencerPiha
2023-10-21 11:50:09 -05:00
parent 10fe4324e4
commit dc8a527a4e
3 changed files with 54 additions and 2 deletions
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2
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/AutoStateSample.java
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@@ -7,8 +7,6 @@ import dev.cyberarm.engine.V2.CyberarmState;
public class AutoStateSample extends CyberarmState {
private final boolean stateDisabled;
private double newX;
private double newY;
PrototypeRobot robot;
public AutoStateSample(PrototypeRobot robot, String groupName, String actionName) {
this.robot = robot;

50
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/DepositorArmPosState.java Normal file
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@@ -0,0 +1,50 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.timecrafters.CenterStage.Common.PrototypeRobot;
import dev.cyberarm.engine.V2.CyberarmState;
public class DepositorArmPosState extends CyberarmState {
private final boolean stateDisabled;
PrototypeRobot robot;
public DepositorArmPosState(PrototypeRobot robot, String groupName, String actionName) {
this.robot = robot;
this.stateDisabled = !robot.configuration.action(groupName, actionName).enabled;
}
@Override
public void start() {
//add variables that need to be reinitillized
}
@Override
public void exec() {
if (robot.armPosition == 0) { // transfer mode
if (robot.oldArmPosititon == 0){
setHasFinished(true);
} else if (robot.oldArmPosititon == 1){
robot.depositorElbow.setPosition(robot.ELBOW_COLLECT);
} else if (robot.oldArmPosititon == 2){
}
// } else if (robot.armPosition == 1) { // drive mode
// if (robot.oldArmPosititon == 1){
// setHasFinished(true);
// } else if (robot.oldArmPosititon == 0){
//
// } else if (robot.oldArmPosititon == 2){
//
// }
// } else if (robot.armPosition == 2) { // deposit mode
// if (robot.oldArmPosititon == 2){
// setHasFinished(true);
// } else if (robot.oldArmPosititon == 0){
//
// } else if (robot.oldArmPosititon == 1){
//
// }
}
}
}

4
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
View File

@@ -15,6 +15,10 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
import dev.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeRobot extends Robot {
public int armPosition = 0;
public int oldArmPosititon;
public double servoWaitTime;
public double servoSecPerDeg = 0.14/60;
public float ELBOW_COLLECT;