TimeCrafters/CenterStage
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tuning auto for left and right

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This commit is contained in:
SpencerPiha
2024-01-11 20:25:38 -06:00
parent 8bf064c63e
commit ff88fcc493
2 changed files with 14 additions and 12 deletions
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5
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java
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@@ -47,9 +47,10 @@ public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-1"));
// drive to the left, center, or right spike mark
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
// place pixel
addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-1"));

21
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java
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@@ -12,7 +12,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import dev.cyberarm.engine.V2.CyberarmEngine;
@Autonomous(name = "Burnsville blue audience")
@Autonomous(name = "Burnsville blue backdrop")
public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
@@ -33,31 +33,32 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
@Override
public void setup() {
this.robot = new CompetitionRobotV1("Burnsville audience blue");
this.robot = new CompetitionRobotV1("Burnsville BackDrop blue");
addTask(new DriveToCoordinatesTask(robot));
addTask(new OdometryLocalizerTask(robot));
// addTask(new ClawArmControlTask(robot));
this.robot.setup();
addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-0"));
addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-0"));
// addState(new CameraVisionState(robot));
addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-1"));
addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-1"));
// drive to the left, center, or right spike mark
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-0"));
addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-1"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
// addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
// place pixel
addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-1"));
addState(new ClawFingerState(robot,"Burnsville BackDrop blue", "0-02-1"));
// drive to search pos
addState(new ClawArmState(robot,"Burnsville audience blue", "0-02-2"));
addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-02-2"));
// close right finger
addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-3"));
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"));