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base: TimeCrafters:4980caf0c2b66e55e61ed8f475ab884ffdc4543e
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TimeCrafters:master
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compare: TimeCrafters:1c7177103493700d3453975b0c6f7ff2cc491e75
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TimeCrafters:master

2 Commits
4980caf0c2 ... 1c71771034

Author SHA1 Message Date
Cyberarm
1c71771034 Added runTime method to CyberarmEngine (FTC's getRunTime starts when INIT is pressed, not when START is pressed), RedCrab: Make use of LED(s) for showing when it's time to launch ta drone and hook the bar 2024-01-31 09:53:48 -06:00
Cyberarm
688ccdf70e RedCrab: Use common engine subclass, fixed MoveToCoordinate ONLY rotating with there's rotation set, LED stuff. 2024-01-31 09:08:35 -06:00
14 changed files with 93 additions and 70 deletions
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12
TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
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@@ -41,6 +41,8 @@ public abstract class CyberarmEngine extends OpMode {
private GamepadChecker gamepadCheckerGamepad1, gamepadCheckerGamepad2;
private boolean useThreads = true;
private long startTime;
/**
* Called when INIT button on Driver Station is pushed
* ENSURE to call super.init() if you override this method
@@ -84,6 +86,8 @@ public abstract class CyberarmEngine extends OpMode {
* ENSURE to call super.start() if you override this method
*/
public void start() {
startTime = System.currentTimeMillis();
if (cyberarmStates.size() > 0) {
runState(cyberarmStates.get(0));
}
@@ -534,4 +538,12 @@ public abstract class CyberarmEngine extends OpMode {
public void threadless() {
useThreads = false;
}
/**
* Time in milliseconds since START button was pushed
* @return runTime
*/
public double runTime() {
return (System.currentTimeMillis() - startTime);
}
}

13
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -88,8 +88,10 @@ public class RedCrabMinibot {
public final DcMotorEx deadWheelXLeft, deadWheelXRight;
public final EncoderCustomKB2040 deadWheelYCenter;
public final DigitalChannel greenLED, redLED;
public final boolean LED_OFF = true, LED_ON = false;
final CyberarmEngine engine;
public final boolean autonomous;
public TimeCraftersConfiguration config;
private final PIDFController clawArmPIDFController;
@@ -124,6 +126,7 @@ public class RedCrabMinibot {
public RedCrabMinibot(boolean autonomous) {
engine = CyberarmEngine.instance;
this.autonomous = autonomous;
config = new TimeCraftersConfiguration("cyberarm_RedCrab");
loadConstants();
@@ -254,8 +257,8 @@ public class RedCrabMinibot {
greenLED.setMode(DigitalChannel.Mode.OUTPUT);
redLED.setMode(DigitalChannel.Mode.OUTPUT);
greenLED.setState(true);
redLED.setState(true);
greenLED.setState(LED_OFF);
redLED.setState(LED_ON);
// Bulk read from hubs
Utilities.hubsBulkReadMode(engine.hardwareMap, LynxModule.BulkCachingMode.MANUAL);
@@ -269,6 +272,12 @@ public class RedCrabMinibot {
RedCrabMinibot.localizer.reset();
}
public void shutdown() {
// Prevent LED(s) from being on while idle
greenLED.setMode(DigitalChannel.Mode.INPUT);
redLED.setMode(DigitalChannel.Mode.INPUT);
}
public void reloadConfig() {
config = new TimeCraftersConfiguration("cyberarm_RedCrab");

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/cyberarm_RedCrab.json
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File diff suppressed because one or more lines are too long

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
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@@ -4,12 +4,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
@Autonomous(name = "Cyberarm Red Crab BLUE AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueAudienceEngine extends RedCrabAutonomousEngine {
public class RedCrabAutonomousBlueAudienceEngine extends RedCrabEngine {
@Override
public void setup() {
robot = new RedCrabMinibot(true);

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
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@@ -4,12 +4,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
@Autonomous(name = "Cyberarm Red Crab BLUE BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousBlueBackstageEngine extends RedCrabAutonomousEngine {
public class RedCrabAutonomousBlueBackstageEngine extends RedCrabEngine {
@Override
public void setup() {
robot = new RedCrabMinibot(true);

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousDebuggingOnlyEngine.java
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@@ -8,7 +8,7 @@ import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
@Autonomous(name = "Cyberarm Red Crab Auto DEBUGGING", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabAutonomousEngine {
public class RedCrabAutonomousDebuggingOnlyEngine extends RedCrabEngine {
@Override
public void setup() {
robot = new RedCrabMinibot(true);

22
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousEngine.java
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@@ -1,22 +0,0 @@
package dev.cyberarm.minibots.red_crab.engines;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public abstract class RedCrabAutonomousEngine extends CyberarmEngine {
protected RedCrabMinibot robot;
@Override
public void loop() {
Utilities.hubsClearBulkReadCache(hardwareMap);
if (RedCrabMinibot.localizer != null) {
RedCrabMinibot.localizer.integrate();
}
super.loop();
if (robot != null)
robot.standardTelemetry();
}
}

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
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@@ -4,12 +4,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
@Autonomous(name = "Cyberarm Red Crab RED AUDIENCE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedAudienceEngine extends RedCrabAutonomousEngine {
public class RedCrabAutonomousRedAudienceEngine extends RedCrabEngine {
@Override
public void setup() {
robot = new RedCrabMinibot(true);

3
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
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@@ -4,12 +4,11 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
@Autonomous(name = "Cyberarm Red Crab RED BACKSTAGE", group = "MINIBOT", preselectTeleOp = "Cyberarm Red Crab TeleOp")
public class RedCrabAutonomousRedBackstageEngine extends RedCrabAutonomousEngine {
public class RedCrabAutonomousRedBackstageEngine extends RedCrabEngine {
@Override
public void setup() {
robot = new RedCrabMinibot(true);

52
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabEngine.java Normal file
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@@ -0,0 +1,52 @@
package dev.cyberarm.minibots.red_crab.engines;
import dev.cyberarm.engine.V2.CyberarmEngine;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public abstract class RedCrabEngine extends CyberarmEngine {
protected RedCrabMinibot robot;
@Override
public void loop() {
Utilities.hubsClearBulkReadCache(hardwareMap);
if (RedCrabMinibot.localizer != null) {
RedCrabMinibot.localizer.integrate();
}
super.loop();
robot.standardTelemetry();
if (robot.autonomous) {
if (runTime() < 20_000.0) { // KEEP CALM and CARRY ON
robot.redLED.setState(robot.LED_OFF);
robot.greenLED.setState(robot.LED_ON);
} else if (runTime() < 25_000.0) { // RUNNING LOW ON TIME
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_ON);
} else { // 5 SECONDS LEFT!
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_OFF);
}
} else {
if (runTime() >= 90_000.0) { // LAUNCH DRONE and DO CHIN UP
robot.redLED.setState(robot.LED_OFF);
robot.greenLED.setState(robot.LED_ON);
} else if (runTime() >= 80_000.0) { // GET READY
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_ON);
} else { // KEEP CALM and CARRY ON
robot.redLED.setState(robot.LED_ON);
robot.greenLED.setState(robot.LED_OFF);
}
}
}
@Override
public void stop() {
robot.shutdown();
super.stop();
}
}

17
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpDebuggingOnlyEngine.java
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@@ -10,13 +10,14 @@ import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
@TeleOp(name = "Cyberarm Red Crab TeleOp DEBUGGING", group = "MINIBOT")
public class RedCrabTeleOpDebuggingOnlyEngine extends CyberarmEngine {
public class RedCrabTeleOpDebuggingOnlyEngine extends RedCrabEngine {
@Override
public void setup() {
threadless();
robot = new RedCrabMinibot(false);
addState(new CyberarmState() {
final RedCrabMinibot robot = new RedCrabMinibot(false);
@Override
public void exec() {
@@ -30,18 +31,6 @@ public class RedCrabTeleOpDebuggingOnlyEngine extends CyberarmEngine {
robot.clawArm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.clawArm.setPower(-engine.gamepad1.left_stick_y * 0.5);
}
@Override
public void telemetry() {
robot.standardTelemetry();
}
});
}
@Override
public void loop() {
Utilities.hubsClearBulkReadCache(hardwareMap);
super.loop();
}
}

14
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
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@@ -9,23 +9,13 @@ import dev.cyberarm.minibots.red_crab.states.ClawArmTask;
import dev.cyberarm.minibots.red_crab.states.Pilot;
@TeleOp(name = "Cyberarm Red Crab TeleOp", group = "MINIBOT")
public class RedCrabTeleOpEngine extends CyberarmEngine {
public class RedCrabTeleOpEngine extends RedCrabEngine {
@Override
public void setup() {
RedCrabMinibot robot = new RedCrabMinibot(false);
robot = new RedCrabMinibot(false);
addTask(new ClawArmTask(robot));
addState(new Pilot(robot));
}
@Override
public void loop() {
Utilities.hubsClearBulkReadCache(hardwareMap);
if (RedCrabMinibot.localizer != null) {
RedCrabMinibot.localizer.integrate();
}
super.loop();
}
}

12
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/MoveToCoordinate.java
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@@ -22,6 +22,7 @@ public class MoveToCoordinate extends CyberarmState {
private double distanceFromTargetMM = 0;
private double velocity = 0;
private double angleDiffDegrees = 0;
private double rotationStrength = 0;
public MoveToCoordinate(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
@@ -85,10 +86,11 @@ public class MoveToCoordinate extends CyberarmState {
}
private void drivetrain(Vector2D direction) {
double rotationStrength = Utilities.lerp(
minVelocityMM,
maxVelocityMM,
Range.clip(Math.abs(angleDiffDegrees) / lerpDegrees, 0.0, 1.0));
// rotationStrength = Utilities.lerp(
// minVelocityMM,
// maxVelocityMM,
// Range.clip(Math.abs(angleDiffDegrees) / lerpDegrees, 0.0, 1.0));
rotationStrength = Range.clip(Math.abs(angleDiffDegrees) / lerpDegrees, 0.0, 1.0);
if (angleDiffDegrees < 0)
rotationStrength *= -1;
@@ -153,7 +155,7 @@ public class MoveToCoordinate extends CyberarmState {
public void telemetry() {
engine.telemetry.addData("Current Position MM", "X: %.2f Y: %.2f", robotPosMM.x(), robotPosMM.y());
engine.telemetry.addData("Target Position MM", "X: %.2f Y: %.2f", targetPosMM.x(), targetPosMM.y());
engine.telemetry.addData("Move NORMAL", "X: %.2f Y: %.2f", direction.x(), direction.y());
engine.telemetry.addData("Move NORMAL", "X: %.2f Y: %.2f R: %.2f", direction.x(), direction.y(), rotationStrength);
engine.telemetry.addData("Distance MM", "%.2fmm", distanceFromTargetMM);
engine.telemetry.addData("Angle Diff DEGREES", "%.2f degrees", angleDiffDegrees);
// engine.telemetry.addData("Velocity", "%.2f T/s", velocity);

5
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
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@@ -130,11 +130,6 @@ public class Pilot extends CyberarmState {
}
}
@Override
public void telemetry() {
robot.standardTelemetry();
}
private void drivetrain() {
// https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html#field-centric