From fc9c2b581266c9a2d7845d4f8f0095f53b82ff86 Mon Sep 17 00:00:00 2001 From: SpencerPiha <88354753+SpencerPiha@users.noreply.github.com> Date: Fri, 12 Jan 2024 19:24:18 -0600 Subject: [PATCH] tuning auto for left and right --- .../CompetitionBurnsvilleAudienceBlue.java | 17 +--- .../CompetitionBurnsvilleAudienceRed.java | 65 ++++++++++++++ .../CompetitionBurnsvilleBackDropBlue.java | 35 +++++--- .../CompetitionBurnsvilleBackDropRed.java | 87 +++++++++++++++++++ .../Common/CompetitionRobotV1.java | 1 + 5 files changed, 175 insertions(+), 30 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java create mode 100644 TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java index 2476d3f..5774812 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java @@ -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")); -// } } diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java new file mode 100644 index 0000000..ba4b265 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java @@ -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")); + + } + +} diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java index 14cbf38..d149e47 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java @@ -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")); + // } diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java new file mode 100644 index 0000000..d72f0c0 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java @@ -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")); + + + + } + +} diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java index 2f178be..9045baa 100644 --- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java +++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java @@ -208,6 +208,7 @@ public class CompetitionRobotV1 extends Robot { } + // -------------------------------------------------------------------------------------------------------------------------- Functions: