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base: TimeCrafters:8c103aeec0f9ccd31be506af35da6aeff88d3568
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compare: TimeCrafters:2f265edbfeebff833d746a92c2c2925a94867446
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TimeCrafters:master

3 Commits
8c103aeec0 ... 2f265edbfe

Author SHA1 Message Date
Cyberarm
2f265edbfe RedCrab: First iteration of Blue Audience autonomous complete 2024-01-08 19:47:49 -06:00
Cyberarm
bca0ec5225 RedCrab: First iteration of Red Backstage autonomous complete 2024-01-08 19:30:09 -06:00
Cyberarm
0c6873c832 RedCrab: Don't reset arm encoder in teleop, fixed ArmMove state instantly finishing, added option for force a specific spike mark path for debugging, Red Audience autonomous complete- probably :slight_smile: 2024-01-08 18:01:08 -06:00
4 changed files with 19 additions and 3 deletions
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4
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -194,7 +194,9 @@ public class RedCrabMinibot {
/// --- Claw Arm Motor
/// --- --- (SOFT) RESET MOTOR ENCODER
clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
// ONLY RESET ENCODER IN AUTONOMOUS
if (autonomous)
clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
/// --- --- DIRECTION
clawArm.setDirection(DcMotorSimple.Direction.FORWARD);
/// --- --- BRAKING

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

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/ClawArmMove.java
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@@ -31,7 +31,7 @@ public class ClawArmMove extends CyberarmState {
int tolerance = robot.clawArm.getTargetPositionTolerance();
int position = robot.clawArm.getCurrentPosition();
if (Utilities.isBetween(position, position - tolerance, position + tolerance) || runTime() >= timeoutMS) {
if (Utilities.isBetween(robot.clawArm.getTargetPosition(), position - tolerance, position + tolerance) || runTime() >= timeoutMS) {
this.finished();
}
}

14
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java
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@@ -1,17 +1,31 @@
package dev.cyberarm.minibots.red_crab.states;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfigurationError;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.engine.V2.Utilities;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class PathEnactor extends CyberarmState {
private final RedCrabMinibot robot;
private String pathGroupName;
private int forcePath;
public PathEnactor(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
try {
this.forcePath = robot.config.variable(groupName, actionName, "forcePath").value();
} catch (TimeCraftersConfigurationError e) {
this.forcePath = -1;
}
}
@Override
public void start() {
// FORCE PATH FOR DEBUGGING
if (Utilities.isBetween(forcePath, 0, 2))
engine.blackboardSet("autonomousPath", forcePath);
String path;
switch (engine.blackboardGetInt("autonomousPath")) {
case 1: