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Trying to find right syntax for a parallel background state

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This commit is contained in:
NerdyBirdy460
2023-11-27 17:13:40 -06:00
parent 2862347f01
commit fe0dbd1723
4 changed files with 49 additions and 7 deletions
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5
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/Engines/SodiPizzaAutoRedRightEngine.java
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@@ -4,6 +4,7 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoArmState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoFirstDriveState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoSecDriveState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaAutoTurnState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
@@ -13,8 +14,12 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiPizzaAutoFirstDriveState());
addState(new SodiPizzaAutoTurnState());
// addState(new SodiPizzaAutoSecDriveState());
// addState(new SodiPizzaAutoArmState());
// addState(new SodiPizzaWheelTest());
}

6
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
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@@ -12,7 +12,6 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
private long lastMoveTime;
private int targetPos = 2500;
private double drivePower;
private boolean lastHalf;
public SodiPizzaAutoFirstDriveState() {
groupName = " ";
@@ -26,7 +25,6 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
@Override
public void start() {
lastHalf = false;
lastMoveTime = System.currentTimeMillis();
robot.readyToTurn = 0;
@@ -43,8 +41,8 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
@Override
public void exec() {
// Move forward from 0 to targetPos
if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10
&& !lastHalf) {
if (robot.leftFront.getCurrentPosition() <= 10 && robot.leftFront.getCurrentPosition() >= -10) {
robot.leftFront.setTargetPosition(targetPos);
robot.leftBack.setTargetPosition(targetPos);
robot.rightFront.setTargetPosition(targetPos);

28
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoSecDriveState.java Normal file
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@@ -0,0 +1,28 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoSecDriveState extends CyberarmState {
final private SodiPizzaMinibotObject robot;
final private String groupName, actionName;
public SodiPizzaAutoSecDriveState() {
groupName = " ";
actionName = " ";
robot = new SodiPizzaMinibotObject();
robot.setup();
}
@Override
public void start() {
}
@Override
public void exec() {
}
}

17
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
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@@ -7,13 +7,13 @@ import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
public class SodiPizzaAutoTurnState extends CyberarmState {
final private SodiPizzaMinibotObject robot = new SodiPizzaMinibotObject();
final private SodiPizzaMinibotObject robot = SodiPizzaMinibotObject();
final private String groupName, actionName;
private long lastMoveTime;
private double turnSpeedRaw, turnSpeed;
private int startPos;
private double targetRot;
private double currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
private double currentRot;
private double neededRot = targetRot - currentRot;
/** Rot = rotation **/
@@ -23,6 +23,13 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
robot.setup();
}
public SodiPizzaAutoTurnState(int readyToTurnParm) {
groupName = " ";
actionName = " ";
robot.setup();
robot.readyToTurn = readyToTurnParm;
}
private double getTurnSpeed() {
if (Math.abs(neededRot) > 5) {
turnSpeed = turnSpeedRaw * neededRot / 10;
@@ -48,6 +55,8 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
@Override
public void exec() {
currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
if (robot.readyToTurn == 1 && robot.leftFront.getCurrentPosition() == startPos && Math.abs(neededRot) > 10) {
targetRot = currentRot + 90;
@@ -59,12 +68,14 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
robot.rightFront.setPower(-turnSpeed);
robot.rightBack.setPower(-turnSpeed);
} else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 10) {
} else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 5) {
turnSpeedRaw = 0;
robot.leftFront.setPower(turnSpeed);
robot.leftBack.setPower(turnSpeed);
robot.rightFront.setPower(turnSpeed);
robot.rightBack.setPower(turnSpeed);
robot.readyToTurn = 0;
}
}