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Camera Implemented, and I have Created all of the states in order of how the autonomous will go. just need to implement values

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This commit is contained in:
SpencerPiha
2022-10-21 14:54:36 -05:00
parent c627e37073
commit 1856a94a0d
2 changed files with 82 additions and 5 deletions
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37
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
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@@ -3,7 +3,10 @@ package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.CollectorState;
import org.timecrafters.Autonomous.States.DriverState;
import org.timecrafters.Autonomous.States.LowerArm;
import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.UpperArm;
import org.timecrafters.testing.states.PrototypeBot1;
@@ -16,8 +19,38 @@ public class TestAutonomousEngine extends CyberarmEngine {
public void setup() {
robot = new PrototypeBot1(this);
addState(new UpperArm(robot, "TestAutonomous", "01-0"));
addState(new LowerArm(robot, "TestAutonomous", "02-0"));
//drive to high pole
addState(new DriverState(robot, "TestAutonomous", "01-0"));
//turn towards high pole
addState(new RotationState(robot, "TestAutonomous", "02-0"));
//lift the upper arm
addState(new UpperArm(robot, "TestAutonomous", "03-0"));
//lift the lower arm
addState(new LowerArm(robot, "TestAutonomous", "04-0"));
//drive forward
addState(new DriverState(robot, "TestAutonomous", "05-0"));
//lower the bottom arm to get closer
addState(new LowerArm(robot, "TestAutonomous", "06-0"));
//make collector release the cone
addState(new CollectorState(robot, "TestAutnomous", "07-0"));
//lift the lower arm to clear the pole
addState(new LowerArm(robot, "TestAutonomous", "08-0"));
//Drive Backwards
addState(new DriverState(robot, "TestAutonomous", "09-0"));
// Rotate to either set up for cones to grab or park somewhere
addState(new RotationState(robot, "TestAutonomous", "10-0"));
// lower the bottom arm so we dont fall over
addState(new LowerArm(robot, "TestAutonomous", "11-0"));
// lower the upper arm so we dont fall over
addState(new UpperArm(robot, "TestAutonomous", "12-0"));
//either dont move if your in the right zone otherwise drive forward a specific variable if we aren't already in the right spot
addState(new DriverState(robot, "TestAutonomous", "13-0"));
}