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tuning auto for left and right

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This commit is contained in:
SpencerPiha
2024-01-12 19:24:18 -06:00
parent ff88fcc493
commit fc9c2b5812
5 changed files with 175 additions and 30 deletions
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17
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java
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@@ -13,7 +13,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Burnsville blue audience")
@Autonomous(name = "Burnsville audience blue")
public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
@@ -60,21 +60,6 @@ public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
// close right finger
addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-3"));
// // drive back and away from the spike mark (x,y) (1050, 1000) H = 0
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-03-0"));
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-03-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-03-0"));
//
//
// // drive to the middle truss (right version) (1130,980) H = -90
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-04-0"));
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-04-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-04-0"));
//
// // drive to hover mode to clear the middle truss
// addState(new ClawArmState(robot,"Burnsville audience blue", "0-04-1"));
//
}
}

65
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java Normal file
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@@ -0,0 +1,65 @@
package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesTask;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.OdometryLocalizerTask;
import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Burnsville audience red")
public class CompetitionBurnsvilleAudienceRed extends CyberarmEngine {
CompetitionRobotV1 robot;
@Override
public void init() {
super.init();
robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.clawArm.setTargetPosition(0);
robot.clawArm.setPower(0);
robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.imu.resetYaw();
robot.leftClaw.setPosition(0.25);
robot.rightClaw.setPosition(0.6);
}
@Override
public void setup() {
this.robot = new CompetitionRobotV1("Burnsville audience red");
addTask(new DriveToCoordinatesTask(robot));
addTask(new OdometryLocalizerTask(robot));
// addTask(new ClawArmControlTask(robot));
this.robot.setup();
addState(new ClawArmState(robot,"Burnsville audience red", "0-01-0"));
// addState(new CameraVisionState(robot));
addState(new ClawArmState(robot,"Burnsville audience red", "0-01-1"));
// drive to the left, center, or right spike mark
addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "2-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "1-02-0"));
// place pixel
addState(new ClawFingerState(robot,"Burnsville audience red", "0-02-1"));
// drive to search pos
addState(new ClawArmState(robot,"Burnsville audience red", "0-02-2"));
// close right finger
addState(new ClawFingerState(robot,"Burnsville audience red", "0-02-3"));
}
}

35
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
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@@ -9,10 +9,11 @@ import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordina
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesTask;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.OdometryLocalizerTask;
import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Burnsville blue backdrop")
@Autonomous(name = "Burnsville BackDrop blue")
public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
@@ -51,6 +52,8 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-02-4"));
// place pixel
addState(new ClawFingerState(robot,"Burnsville BackDrop blue", "0-02-1"));
@@ -60,19 +63,23 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
// close right finger
addState(new ClawFingerState(robot,"Burnsville BackDrop blue", "0-02-3"));
// // drive back and away from the spike mark (x,y) (1050, 1000) H = 0
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-03-0"));
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-03-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-03-0"));
//
//
// // drive to the middle truss (right version) (1130,980) H = -90
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-04-0"));
//// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-04-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-04-0"));
//
// // drive to hover mode to clear the middle truss
// addState(new ClawArmState(robot,"Burnsville audience blue", "0-04-1"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "0-03-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-03-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-04-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-04-1"));
addState(new ClawFingerState(robot,"Burnsville BackDrop red", "0-04-2"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "0-05-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "end task"));
//
}

87
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java Normal file
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@@ -0,0 +1,87 @@
package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesTask;
import org.timecrafters.CenterStage.Autonomous.CompetitionStates.OdometryLocalizerTask;
import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Burnsville BackDrop red")
public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
CompetitionRobotV1 robot;
@Override
public void init() {
super.init();
robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.clawArm.setTargetPosition(0);
robot.clawArm.setPower(0);
robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.imu.resetYaw();
robot.leftClaw.setPosition(0.25);
robot.rightClaw.setPosition(0.6);
}
@Override
public void setup() {
this.robot = new CompetitionRobotV1("Burnsville BackDrop red");
addTask(new DriveToCoordinatesTask(robot));
addTask(new OdometryLocalizerTask(robot));
// addTask(new ClawArmControlTask(robot));
this.robot.setup();
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-0"));
// addState(new CameraVisionState(robot));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-1"));
// drive to the left, center, or right spike mark
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-02-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-02-5"));
// place pixel
addState(new ClawFingerState(robot,"Burnsville BackDrop red", "0-02-1"));
// drive to search pos
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-02-2"));
// close right finger
addState(new ClawFingerState(robot,"Burnsville BackDrop red", "0-02-3"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "0-03-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-03-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-04-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-04-1"));
addState(new ClawFingerState(robot,"Burnsville BackDrop red", "0-04-2"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "0-05-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop red", "end task"));
}
}

1
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java
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@@ -208,6 +208,7 @@ public class CompetitionRobotV1 extends Robot {
}
// -------------------------------------------------------------------------------------------------------------------------- Functions: