From ef8b773bc302b0299d148f49246c8cfdfef32d01 Mon Sep 17 00:00:00 2001 From: NerdyBirdy460 <111399933+NerdyBirdy460@users.noreply.github.com> Date: Tue, 24 Oct 2023 20:28:56 -0500 Subject: [PATCH] Begin useful stuff, need to work on game strategy --- .../Autonomous/States/ArmStateSodi.java | 40 ++++++++++ .../Autonomous/States/ProtoBotStateSodi.java | 80 ++++++++++++------- .../CenterStage/Common/ProtoBotSodi.java | 3 + 3 files changed, 92 insertions(+), 31 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java new file mode 100644 index 0000000..36303a4 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java @@ -0,0 +1,40 @@ +package org.timecrafters.CenterStage.Autonomous.States; + +import org.timecrafters.CenterStage.Common.ProtoBotSodi; +import org.timecrafters.CenterStage.Common.PrototypeRobot; + +import dev.cyberarm.engine.V2.CyberarmState; + +public class ArmStateSodi extends CyberarmState { + + private final boolean stateDisabled; + ProtoBotSodi robot; + private int testSequence; + + public ArmStateSodi(ProtoBotSodi 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 reinitialized + //NOT REINITILLIZED >:( + } + + @Override + public void exec() { + + if (robot.liftMotor.motor.getCurrentPosition() < 0) { + robot.liftMotor.motor.setPower(0); + } + if (robot.liftMotor.motor.getCurrentPosition() >= 0 && robot.liftMotor.motor.getCurrentPosition() <= 49) { + + } + if (robot.liftMotor.motor.getCurrentPosition() >= 50 && robot.liftMotor.motor.getCurrentPosition() <= 250) { + + } + + + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java index 50abf75..b66ec61 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java @@ -12,6 +12,7 @@ public class ProtoBotStateSodi extends CyberarmState { ProtoBotSodi robot; private double avgVelocity, avgDrivePower; private long lastTimeChecked; + private int testSequence; public ProtoBotStateSodi(ProtoBotSodi robot) { this.robot = robot; } @@ -55,44 +56,61 @@ public class ProtoBotStateSodi extends CyberarmState { robot.dropJaw.setPosition(0); lastTimeChecked = System.currentTimeMillis(); + testSequence = 0; } @Override public void exec() { +// +// if (System.currentTimeMillis() - lastTimeChecked >= 500 && System.currentTimeMillis() - lastTimeChecked < 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.liftMotor.motor.setPower(0.5); +// } else if (System.currentTimeMillis() - lastTimeChecked >= 2500 && System.currentTimeMillis() - lastTimeChecked < 4500) { +// 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.liftMotor.motor.setPower(-0.5); +// } else if (System.currentTimeMillis() - lastTimeChecked >= 4500 && System.currentTimeMillis() - lastTimeChecked < 6500) { +// 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.liftMotor.motor.setPower(0); +// } else if (System.currentTimeMillis() - lastTimeChecked >= 6500 && System.currentTimeMillis() - lastTimeChecked < 8500) { +// 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.liftMotor.motor.setPower(0); +// } else if (System.currentTimeMillis() - lastTimeChecked >= 8600){ +// 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); +// setHasFinished(true); +// } + + switch (testSequence) { + case 1: + + //lift motor go up for some way + //wait for about 0.25 + + case 2: + + //lift motor go down + //repeat + //wait for about 0.25 + - if (System.currentTimeMillis() - lastTimeChecked >= 500 && System.currentTimeMillis() - lastTimeChecked < 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.liftMotor.motor.setPower(0.5); - } else if (System.currentTimeMillis() - lastTimeChecked >= 2500 && System.currentTimeMillis() - lastTimeChecked < 4500) { - 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.liftMotor.motor.setPower(-0.5); - } else if (System.currentTimeMillis() - lastTimeChecked >= 4500 && System.currentTimeMillis() - lastTimeChecked < 6500) { - 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.liftMotor.motor.setPower(0); - } else if (System.currentTimeMillis() - lastTimeChecked >= 6500 && System.currentTimeMillis() - lastTimeChecked < 8500) { - 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.liftMotor.motor.setPower(0); - } else if (System.currentTimeMillis() - lastTimeChecked >= 8600){ - 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); - setHasFinished(true); } + } } diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java index 0d341a4..793834d 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java @@ -30,6 +30,9 @@ public class ProtoBotSodi extends Robot { private String string; private CyberarmEngine engine; + public TimeCraftersConfiguration configuration; + + public ProtoBotSodi(String string) { this.engine = engine; this.string = string;