TimeCrafters/CenterStage
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Begin useful stuff, need to work on game strategy

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This commit is contained in:
NerdyBirdy460
2023-10-24 20:28:56 -05:00
parent c32ab723af
commit ef8b773bc3
3 changed files with 92 additions and 31 deletions
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40
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ArmStateSodi.java Normal file
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@@ -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) {
}
}
}

80
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/ProtoBotStateSodi.java
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@@ -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);
}
}
}

3
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/ProtoBotSodi.java
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@@ -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;