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got rid of shooter and collector stuff in my old minibot robot centric drive tele op

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This commit is contained in:
SpencerPiha
2022-09-11 18:06:28 -05:00
parent f410a7ff54
commit 1cdf8615cb
13 changed files with 100 additions and 454 deletions
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20
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/DemoPingPongEngine.java
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@@ -1,20 +0,0 @@
package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.states.DemoPingPongState;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
@TeleOp(name = "DemoTeleOp")
public class DemoPingPongEngine extends CyberarmEngine {
@Override
public void setup() {
MecanumRobot robot;
robot = new MecanumRobot(this);
addState(new DemoPingPongState(robot));
}
}

25
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/DistanceSensorTest.java
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@@ -1,25 +0,0 @@
package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.states.DemoPingPongState;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
@TeleOp( name = "Distance Sensor Test")
public class DistanceSensorTest extends CyberarmEngine {
@Override
public void setup() {
MecanumRobot robot;
robot = new MecanumRobot(this);
addState(new org.timecrafters.minibots.cyberarm.states.DistanceSensorTest(robot));
}
}

11
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/DriveAutonomous.java
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@@ -1,11 +0,0 @@
package org.timecrafters.minibots.cyberarm.engines;
import org.cyberarm.engine.V2.CyberarmEngine;
public class DriveAutonomous extends CyberarmEngine {
@Override
public void setup() {
}
}

12
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/SlowModeTestEngine.java → TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/FieldOrientedEngine.java
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@@ -3,20 +3,22 @@ package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.states.FieldOrientedDrive;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
import org.timecrafters.minibots.cyberarm.states.SlowModeTestPingPong;
@TeleOp (name = "Slow Mode Test")
@TeleOp(name = "Field Oriented Drive")
public class FieldOrientedEngine extends CyberarmEngine {
public class SlowModeTestEngine extends CyberarmEngine {
MecanumRobot robot;
@Override
public void setup() {
robot = new MecanumRobot(this);
addState(new SlowModeTestPingPong(robot));
addState(new FieldOrientedDrive(robot));
}
}

94
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/DemoPingPongState.java
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@@ -1,94 +0,0 @@
package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmState;
public class DemoPingPongState extends CyberarmState {
private final MecanumRobot robot;
private boolean A;
private boolean B;
private boolean X;
private boolean Y;
public DemoPingPongState(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
//Gamepad Read
A = engine.gamepad2.a;
B = engine.gamepad2.b;
X = engine.gamepad2.x;
Y = engine.gamepad2.y;
Gamepad gamepad = engine.gamepad1;
if (engine.gamepad2.right_trigger != 0) {
gamepad = engine.gamepad2;
}
double y = -gamepad.left_stick_y; // Remember, this is reversed! because of the negative
double x = gamepad.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = gamepad.right_stick_x;
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
// at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
// As I programed this and ran it, I realized everything was backwards
// in direction so to fix that i either went in the robot object state and reversed
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower);
robot.backLeftDrive.setPower(-backLeftPower);
robot.frontRightDrive.setPower(-frontRightPower);
robot.backRightDrive.setPower(-backRightPower);
//--------------------------------------------------------------------------------------------------------------------------------
// GamePad 2 Controls (GamePad 1 Has no control with these)
if (A){
robot.shooterWheel.setPower(1);
robot.collectorRight.setPower(0);
}
if (Y){
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(1);
}
if (X){
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(0);
}
// Ball blocker Servo Program
// This says if the trigger is pressed down 50% or more the servo brings the blocker down
if (engine.gamepad2.left_trigger >= 0.5){
robot.ballBlocker.setPosition(0.45);
}
// this else statement says if nothing is pressed then it stays in the up position
else {
robot.ballBlocker.setPosition(0.52);
}
}
@Override
public void exac() {
}
}

144
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/DistanceSensorTest.java
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@@ -1,144 +0,0 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
public class DistanceSensorTest extends CyberarmState {
private final MecanumRobot robot;
public String ballAmount;
public DistanceSensorTest(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 5.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 6.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 7.5) {
ballAmount = "3 balls";
}
if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 10.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 11.9) {
ballAmount = "2 balls";
}
if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 14.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 15.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 16.9) {
ballAmount = "1 ball";
}
if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.4
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.5
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.6
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.7
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.8
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 19.9
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 20.0
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 20.1
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 20.2
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 20.3
|| robot.ballPositionSensor.getDistance(DistanceUnit.CM) == 20.4){
ballAmount = "no balls";
}
}
@Override
public void telemetry() {
engine.telemetry.addData("distance", robot.ballPositionSensor.getDistance(DistanceUnit.CM));
engine.telemetry.addData("Amount", ballAmount);
}
@Override
public void exac() {
}
}

67
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/FieldOrientedDrive.java Normal file
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@@ -0,0 +1,67 @@
package org.timecrafters.minibots.cyberarm.states;
//adb connect 192.168.43.1
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
public class FieldOrientedDrive extends CyberarmState {
MecanumRobot robot;
BNO055IMU imu;
public FieldOrientedDrive(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void init() {
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
// parameters.loggingEnabled = true;
// parameters.loggingTag = "IMU";
imu = engine.hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(parameters);
parameters.angleUnit = BNO055IMU.AngleUnit.RADIANS;
imu.initialize(parameters);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
@Override
public void exec() {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.right_stick_x;
// Read inverse IMU heading, as the IMU heading is CW positive
double botHeading = -imu.getAngularOrientation().firstAngle;
double rotX = x * Math.cos(botHeading) - y * Math.sin(botHeading);
double rotY = x * Math.sin(botHeading) + y * Math.cos(botHeading);
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
// at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (rotY + rotX + rx) / denominator;
double backLeftPower = (rotY - rotX + rx) / denominator;
double frontRightPower = (rotY - rotX - rx) / denominator;
double backRightPower = (rotY + rotX - rx) / denominator;
robot.frontLeftDrive.setPower(frontLeftPower * .95);
robot.backRightDrive.setPower(backLeftPower * .95);
robot.frontRightDrive.setPower(frontRightPower * 1);
robot.backRightDrive.setPower(backRightPower * 1);
}
}

24
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumRobot.java
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@@ -1,5 +1,6 @@
package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.CRServo;
@@ -13,12 +14,9 @@ public class MecanumRobot {
private CyberarmEngine engine;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, shooterWheel, collectorRight;
public Servo ballBlocker;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive;
public RevBlinkinLedDriver ledDriver;
public Rev2mDistanceSensor ballPositionSensor;
public MecanumRobot(CyberarmEngine engine) {
this.engine = engine;
@@ -33,30 +31,20 @@ public class MecanumRobot {
frontRightDrive = engine.hardwareMap.dcMotor.get("front right");
backRightDrive = engine.hardwareMap.dcMotor.get("back left");
backLeftDrive = engine.hardwareMap.dcMotor.get("back right");
shooterWheel = engine.hardwareMap.dcMotor.get("shooter wheel");
collectorRight = engine.hardwareMap.dcMotor.get("collector motor");
ledDriver = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
//motors direction and encoders
frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
// Sensor Configuration
ballPositionSensor = engine.hardwareMap.get(Rev2mDistanceSensor.class, "ball position");
//Servo configuration
ballBlocker = engine.hardwareMap.servo.get("ball blocker");
}
}

71
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/Mecanum_Fancy_Drive_State.java
View File

@@ -9,7 +9,6 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
public class Mecanum_Fancy_Drive_State extends CyberarmState {
private final MecanumRobot robot;
public String ballAmount;
public boolean A;
public boolean X;
public boolean Y;
@@ -64,66 +63,28 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower * drivePower);
robot.backLeftDrive.setPower(-backLeftPower * drivePower);
robot.frontRightDrive.setPower(-frontRightPower * drivePower);
robot.backRightDrive.setPower(-backRightPower * drivePower);
robot.frontLeftDrive.setPower(frontLeftPower * drivePower);
robot.backLeftDrive.setPower(backLeftPower * drivePower);
robot.frontRightDrive.setPower(frontRightPower * drivePower);
robot.backRightDrive.setPower(backRightPower * drivePower);
//-----------------------------------------------------------------
// Shooter program
if (A) {
robot.shooterWheel.setPower(1);
robot.collectorRight.setPower(0);
} if (Y) {
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(1);
} if (X) {
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(0);
}
// Ball blocker Servo Program
// This says if the trigger is pressed down 50% or more the servo brings the blocker down
if (engine.gamepad1.left_trigger >= 0.5) {
robot.ballBlocker.setPosition(0.45);
}
// this else statement says if nothing is pressed then it stays in the up position
else {
robot.ballBlocker.setPosition(0.52);
}
//--------------------------------------------------------------------------------
// ball Amount Sensor Program
if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) < 9) {
ballAmount = "3 balls";
} else if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) < 13){
ballAmount = "2 balls";
} else if (robot.ballPositionSensor.getDistance(DistanceUnit.CM) < 17){
ballAmount = "1 balls";
} else {
ballAmount = "no balls";
}
//-------------------------------------------------------------------------------------------------------------------
// LIGHT CONTROLS
if (robot.ballBlocker.getPosition() == 0.45 && robot.shooterWheel.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.STROBE_RED);
} else if (robot.shooterWheel.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (ballAmount.equals("3 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (ballAmount.equals("2 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
} else if (ballAmount.equals("1 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
if (drivePower == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
}
else if (drivePower == 0.5){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
}
//------------------------------------------------------------------------------------------------------------------------------------
@@ -132,18 +93,12 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
@Override
public void telemetry() {
engine.telemetry.addData("Distance", robot.ballPositionSensor.getDistance(DistanceUnit.CM));
engine.telemetry.addData("Amount", ballAmount);
engine.telemetry.addData("Speed", drivePower);
engine.telemetry.addData("FrontLeftEncoder", robot.frontLeftDrive.getCurrentPosition());
engine.telemetry.addData("FrontRightEncoder", robot.frontRightDrive.getCurrentPosition());
engine.telemetry.addData("BackLeftEncoder", robot.backLeftDrive.getCurrentPosition());
engine.telemetry.addData("BackRightEncoder", robot.backRightDrive.getCurrentPosition());
}
@Override
public void exac() {
}
}

8
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/Mecanum_Robot_State.java
View File

@@ -4,6 +4,8 @@ import org.cyberarm.engine.V2.CyberarmState;
public class Mecanum_Robot_State extends CyberarmState {
// adb connect 192.168.43.1
private final MecanumRobot robot;
private float maxSpeed = 1;
private double halfSpeed = 0.5;
@@ -111,9 +113,5 @@ public class Mecanum_Robot_State extends CyberarmState {
}
}
@Override
public void exac() {
}
}

71
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/SlowModeTestPingPong.java
View File

@@ -1,71 +0,0 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class SlowModeTestPingPong extends CyberarmState {
MecanumRobot robot;
private double drivePower = 1;
private boolean bprev;
public SlowModeTestPingPong (MecanumRobot robot){
this.robot = robot;
}
@Override
public void exec() {
//toggle for drive speed
boolean b = engine.gamepad1.b;
if (b && !bprev) {
if (drivePower == 1) {
drivePower = 0.5;
} else {
drivePower = 1;
}
}
bprev = b;
//Drivetrain Variables
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.right_stick_x;
//Gamepad variables
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
// at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
// As I programed this and ran it, I realized everything was backwards
// in direction so to fix that i either went in the robot object state and reversed
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower * drivePower);
robot.backLeftDrive.setPower(-backLeftPower * drivePower);
robot.frontRightDrive.setPower(-frontRightPower * drivePower);
robot.backRightDrive.setPower(-backRightPower * drivePower);
//-----------------------------------------------------------------
}
@Override
public void exac() {
}
}

2
build.gradle
View File

@@ -10,7 +10,7 @@ buildscript {
google()
}
dependencies {
classpath 'com.android.tools.build:gradle:7.2.0'
classpath 'com.android.tools.build:gradle:7.2.2'
}
}

5
gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,5 +1,6 @@
#Fri Sep 02 20:25:51 CDT 2022
distributionBase=GRADLE_USER_HOME
distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME