TimeCrafters/CenterStage
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Added turning with IMU, config angry :(

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This commit is contained in:
NerdyBirdy460
2023-11-24 15:10:58 -06:00
parent 43e59d8f6d
commit fe2c3de40b
4 changed files with 157 additions and 16 deletions
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6
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.SodiPizzaAutoTurnState;
import org.timecrafters.CenterStage.Autonomous.States.SodiPizzaWheelTest;
import dev.cyberarm.engine.V2.CyberarmEngine;
@@ -12,8 +13,9 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class SodiPizzaAutoRedRightEngine extends CyberarmEngine {
@Override
public void setup() {
// addState(new SodiPizzaAutoFirstDriveState());
addState(new SodiPizzaAutoFirstDriveState());
addState(new SodiPizzaAutoTurnState());
// addState(new SodiPizzaAutoArmState());
addState(new SodiPizzaWheelTest());
// addState(new SodiPizzaWheelTest());
}
}

94
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoFirstDriveState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.CenterStage.Autonomous.States;
import android.annotation.SuppressLint;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
import dev.cyberarm.engine.V2.CyberarmState;
@@ -8,6 +10,9 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
final private SodiPizzaMinibotObject robot;
final private String groupName, actionName;
private long lastMoveTime;
private int targetPos = 2500;
private double drivePower;
private boolean lastHalf;
public SodiPizzaAutoFirstDriveState() {
groupName = " ";
@@ -15,10 +20,16 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
robot = new SodiPizzaMinibotObject();
robot.setup();
}
@SuppressLint("SuspiciousIndentation")
@Override
public void start() {
lastHalf = false;
lastMoveTime = System.currentTimeMillis();
robot.readyToTurn = 0;
}
@Override
@@ -31,26 +42,81 @@ 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) {
robot.leftFront.setTargetPosition(targetPos);
robot.leftBack.setTargetPosition(targetPos);
robot.rightFront.setTargetPosition(targetPos);
robot.rightBack.setTargetPosition(targetPos);
if (robot.leftFront.getCurrentPosition() < 1000) {
drivePower = 0.5;
robot.leftFront.setTargetPosition(1000);
robot.leftBack.setTargetPosition(1000);
robot.rightFront.setTargetPosition(1000);
robot.rightBack.setTargetPosition(1000);
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
robot.leftFront.setPower(0.5);
robot.rightFront.setPower(0.5);
robot.leftBack.setPower(0.5);
robot.rightBack.setPower(0.5);
}
//Stop and finish set after return to 0
else if (robot.leftFront.getCurrentPosition() >= targetPos - 10 && robot.leftFront.getCurrentPosition() <= targetPos + 10) {
} else {
robot.leftFront.setPower(0);
robot.leftBack.setPower(0);
robot.rightFront.setPower(0);
robot.rightBack.setPower(0);
drivePower = 0;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
robot.readyToTurn = 1;
setHasFinished(true);
}
/* //Stop moving and update lastMoveTime
if (robot.leftFront.getCurrentPosition() >= targetPos && drivePower > 0) {
lastHalf = true;
drivePower = 0;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
lastMoveTime = System.currentTimeMillis();
}
//Move backwards from targetPos to 0
if (robot.leftFront.getCurrentPosition() >= targetPos && drivePower == 0
&& System.currentTimeMillis() - lastMoveTime >= 500 && lastHalf) {
robot.leftFront.setTargetPosition(0);
robot.leftBack.setTargetPosition(0);
robot.rightFront.setTargetPosition(0);
robot.rightBack.setTargetPosition(0);
drivePower = -0.5;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
} */
/* if (robot.leftFront.getCurrentPosition() < 1250 && robot.leftFront.getCurrentPosition() >= targetPos &&
robot.rightBack.getCurrentPosition() > 750) {
robot.leftFront.setPower(0.5);
robot.leftBack.setPower(0.5);
robot.rightFront.setPower(-0.5);
robot.rightBack.setPower(-0.5);
robot.leftFront.setTargetPosition(1250);
robot.leftBack.setTargetPosition(1250);
robot.rightFront.setTargetPosition(750);
robot.rightBack.setTargetPosition(750);
}
*/
}
}

71
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java Normal file
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@@ -0,0 +1,71 @@
package org.timecrafters.CenterStage.Autonomous.States;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
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 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 neededRot = targetRot - currentRot;
/** Rot = rotation **/
public SodiPizzaAutoTurnState() {
groupName = " ";
actionName = " ";
robot.setup();
}
private double getTurnSpeed() {
if (Math.abs(neededRot) > 5) {
turnSpeed = turnSpeedRaw * neededRot / 10;
}
return turnSpeed;
}
@Override
public void start() {
startPos = robot.leftFront.getCurrentPosition();
turnSpeedRaw = 0;
robot.leftFront.setPower(turnSpeed);
robot.leftBack.setPower(turnSpeed);
robot.rightFront.setPower(turnSpeed);
robot.rightBack.setPower(turnSpeed);
robot.imu.resetYaw();
}
@Override
public void exec() {
if (robot.readyToTurn == 1 && robot.leftFront.getCurrentPosition() == startPos && Math.abs(neededRot) > 10) {
targetRot = currentRot + 90;
turnSpeedRaw = 0.3;
robot.leftFront.setPower(turnSpeed);
robot.leftBack.setPower(turnSpeed);
robot.rightFront.setPower(-turnSpeed);
robot.rightBack.setPower(-turnSpeed);
} else if (robot.readyToTurn == 1 && Math.abs(neededRot) < 10) {
turnSpeedRaw = 0;
robot.leftFront.setPower(turnSpeed);
robot.leftBack.setPower(turnSpeed);
robot.rightFront.setPower(turnSpeed);
robot.rightBack.setPower(turnSpeed);
}
}
}

2
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
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@@ -19,6 +19,8 @@ public class SodiPizzaMinibotObject extends Robot {
public IMU imu;
private String string;
public int readyToTurn;
public static double GRIPPER_CLOSED = 0.333; // ~90 degrees
public static double GRIPPER_OPEN = 0.75; // ~205 degrees