TimeCrafters/CenterStage
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TeleOp for drivetrain with FTC Lib, and servos for depositor

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This commit is contained in:
SpencerPiha
2023-09-30 12:17:30 -05:00
parent 2500ca64a5
commit f7a04f298c
2 changed files with 37 additions and 4 deletions
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26
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
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@@ -2,9 +2,13 @@ package org.timecrafters.CenterStage.Common;
import com.arcrobotics.ftclib.drivebase.HDrive;
import com.arcrobotics.ftclib.hardware.RevIMU;
import com.arcrobotics.ftclib.hardware.ServoEx;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import org.timecrafters.Library.Robot;
@@ -13,9 +17,9 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeRobot extends Robot {
private HardwareMap hardwareMap;
private MotorEx frontLeft, frontRight, backLeft, backRight;
public MotorEx frontLeft, frontRight, backLeft, backRight;
private RevIMU imu;
public Servo depositorFlip, depositor;
private HDrive xDrive;
private String string;
private CyberarmEngine engine;
@@ -36,6 +40,16 @@ public class PrototypeRobot extends Robot {
backRight = new MotorEx(hardwareMap, "backRight");
backLeft = new MotorEx(hardwareMap, "backLeft");
frontRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
backRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
backLeft.motor.setDirection(DcMotorSimple.Direction.FORWARD);
frontLeft.motor.setDirection(DcMotorSimple.Direction.FORWARD);
frontRight.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backRight.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
backLeft.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontLeft.motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
//IMU
imu = new RevIMU(hardwareMap, "imu");
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
@@ -43,14 +57,18 @@ public class PrototypeRobot extends Robot {
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
imu.init(parameters);
//SERVO
depositorFlip = hardwareMap.servo.get("depositorFlip");
depositor = hardwareMap.servo.get("depositor");
// input motors exactly as shown below
xDrive = new HDrive(frontLeft, frontRight,
backLeft, backRight);
backLeft, backRight);
}
public void driveTrainTeleOp() {
xDrive.driveFieldCentric(engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, engine.gamepad1.right_stick_x, heading());
xDrive.driveRobotCentric(-engine.gamepad1.left_stick_x, engine.gamepad1.left_stick_y, -engine.gamepad1.right_stick_x);
}
public double heading() {

15
TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
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@@ -6,11 +6,26 @@ import dev.cyberarm.engine.V2.CyberarmState;
public class PrototypeRobotDrivetrainState extends CyberarmState {
private PrototypeRobot robot;
public PrototypeRobotDrivetrainState(PrototypeRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
robot.driveTrainTeleOp();
if (engine.gamepad1.y){
robot.depositorFlip.setPosition(0.75);
} else if (engine.gamepad1.a){
robot.depositorFlip.setPosition(0.05);
}
// depositor
if (engine.gamepad1.b){
robot.depositor.setPosition(0.8);
} else if (engine.gamepad1.x){
robot.depositor.setPosition(0.2);
}
}
}