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Minibot program- day 3

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This commit is contained in:
NerdyBirdy460
2023-03-25 12:08:04 -05:00
parent 1b148ad75b
commit 151c866ade
2 changed files with 44 additions and 18 deletions
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21
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java
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@@ -1,7 +1,10 @@
package org.timecrafters.minibots.states; package org.timecrafters.minibots.states;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.IMU;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration; import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import org.timecrafters.minibots.engines.Mini2023Engine; import org.timecrafters.minibots.engines.Mini2023Engine;
@@ -11,8 +14,10 @@ public class Mini2023Bot {
private final Mini2023Engine engine; private final Mini2023Engine engine;
public TimeCraftersConfiguration configuration; public TimeCraftersConfiguration configuration;
public DcMotor Opportunity, Spirit, Victoria, Endeavour; //Don't ask. Just don't. public DcMotor Opportunity, Spirit; //Don't ask. Just don't.
public CRServo servoA, servoB, servoC; //Just be thankful the servos have 'normal' names. public CRServo servoA, servoB, servoC; //Just be thankful the servos have 'normal' names.
public IMU imu;
public ModernRoboticsI2cRangeSensor hazcam;
public Mini2023Bot(Mini2023Engine engine) { public Mini2023Bot(Mini2023Engine engine) {
this.engine = engine; this.engine = engine;
@@ -21,15 +26,21 @@ public class Mini2023Bot {
private void setupRobot() { private void setupRobot() {
Opportunity = engine.hardwareMap.get(DcMotor.class, "Left Wheel"); Spirit = engine.hardwareMap.get(DcMotor.class, "Left Wheel");
Spirit = engine.hardwareMap.get(DcMotor.class, "Right Wheel"); Opportunity = engine.hardwareMap.get(DcMotor.class, "Right Wheel");
// Victoria = engine.hardwareMap.get(DcMotor.class, "Rear Dead Wheel");
// Endeavour = engine.hardwareMap.get(DcMotor.class, "Front Dead Wheel");
servoA = engine.hardwareMap.get(CRServo.class, "Servo 1"); servoA = engine.hardwareMap.get(CRServo.class, "Servo 1");
servoB = engine.hardwareMap.get(CRServo.class, "Servo 2"); servoB = engine.hardwareMap.get(CRServo.class, "Servo 2");
servoC = engine.hardwareMap.get(CRServo.class, "Servo 3"); servoC = engine.hardwareMap.get(CRServo.class, "Servo 3");
IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot(
RevHubOrientationOnRobot.LogoFacingDirection.BACKWARD,
RevHubOrientationOnRobot.UsbFacingDirection.UP
));
this.imu = engine.hardwareMap.get(IMU.class, "imu");
imu.initialize(parameters);
// configuration = new TimeCraftersConfiguration("2023 Mini"); // configuration = new TimeCraftersConfiguration("2023 Mini");

41
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java
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@@ -9,51 +9,66 @@ public class Mini2023State extends CyberarmState {
public double lThrust, rThrust, orbitSpeed; public double lThrust, rThrust, orbitSpeed;
public double deltaServo;
public Mini2023State(Mini2023Bot robot) {this.robot = robot;} public Mini2023State(Mini2023Bot robot) {this.robot = robot;}
public double getDeltaServo() {
return deltaServo;
}
@Override public void telemetry() {
engine.telemetry.addData("Right Drive Power", robot.Opportunity.getPower());
engine.telemetry.addData("Left Drive Power", robot.Spirit.getPower());
}
@Override @Override
public void init() { public void init() {
lThrust = 0; lThrust = 0;
rThrust = 0; rThrust = 0;
orbitSpeed = 0; orbitSpeed = 0;
robot.servoA.setPower(0); robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(0); robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(0); robot.servoC.setPower(orbitSpeed);
robot.Opportunity.setPower(lThrust); robot.Spirit.setPower(lThrust);
robot.Spirit.setPower(rThrust); robot.Opportunity.setPower(rThrust);
} }
@Override @Override
public void exec() { public void exec() {
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1) { if (Math.abs(engine.gamepad1.left_stick_y) > 0.1) {
lThrust = engine.gamepad2.left_stick_y; lThrust = engine.gamepad1.left_stick_y * 0.5;
robot.Opportunity.setPower(lThrust); robot.Spirit.setPower(lThrust);
} else { } else {
lThrust = 0; lThrust = 0;
robot.Opportunity.setPower(lThrust); robot.Spirit.setPower(lThrust);
} }
if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) { if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) {
rThrust = engine.gamepad1.right_stick_y; rThrust = engine.gamepad1.right_stick_y * 0.5;
robot.Spirit.setPower(rThrust); robot.Opportunity.setPower(rThrust);
} else { } else {
rThrust = 0; rThrust = 0;
robot.Spirit.setPower(rThrust); robot.Opportunity.setPower(rThrust);
} }
if (engine.gamepad1.right_trigger > 0.1) { if (engine.gamepad1.right_trigger > 0.1) {
orbitSpeed = engine.gamepad1.right_trigger * 0.75; orbitSpeed = engine.gamepad1.right_trigger * 0.5;
robot.servoA.setPower(orbitSpeed); robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed); robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed); robot.servoC.setPower(orbitSpeed);
} else if (engine.gamepad1.left_trigger > 0.1) { } else if (engine.gamepad1.left_trigger > 0.1) {
orbitSpeed = engine.gamepad1.left_trigger * 0.75; orbitSpeed = engine.gamepad1.left_trigger * 0.5;
robot.servoA.setPower(orbitSpeed); robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed); robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed); robot.servoC.setPower(orbitSpeed);
} else { } else {
orbitSpeed = 0; orbitSpeed = 0;
robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed);
} }