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LeftSideAutonomous has drive backward and forward states after rotating towards both of the junctions for allignment. and it is organized

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This commit is contained in:
SpencerPiha
2022-11-08 20:33:43 -06:00
parent d21441eec5
commit 250db12317
3 changed files with 20 additions and 3 deletions
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2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
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@@ -27,6 +27,8 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
addState(new DriverState(robot, "LeftSideAutonomous", "01-0")); addState(new DriverState(robot, "LeftSideAutonomous", "01-0"));
//turn towards high pole //turn towards high pole
addState(new RotationState(robot, "LeftSideAutonomous", "02-0")); addState(new RotationState(robot, "LeftSideAutonomous", "02-0"));
//drive back
addState(new DriverState(robot, "LeftSideAutonomous", "02-1"));
//lift the upper arm //lift the upper arm
addState(new TopArm(robot, "LeftSideAutonomous", "03-0")); addState(new TopArm(robot, "LeftSideAutonomous", "03-0"));
//lift the lower arm //lift the lower arm

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java
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@@ -27,6 +27,8 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
addState(new DriverState(robot, "RightSideAutonomous", "01-0")); addState(new DriverState(robot, "RightSideAutonomous", "01-0"));
//turn towards high pole //turn towards high pole
addState(new RotationState(robot, "RightSideAutonomous", "02-0")); addState(new RotationState(robot, "RightSideAutonomous", "02-0"));
// drive back
addState(new DriverState(robot, "RightSideAutonomous", "02-1"));
//lift the upper arm //lift the upper arm
addState(new TopArm(robot, "RightSideAutonomous", "03-0")); addState(new TopArm(robot, "RightSideAutonomous", "03-0"));
//lift the lower arm //lift the lower arm

19
TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java
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@@ -20,6 +20,9 @@ public class CollectorDistanceState extends CyberarmState {
private double distanceDelta; private double distanceDelta;
private double debugRunTime; private double debugRunTime;
private String debugStatus = "?"; private String debugStatus = "?";
private boolean inRange = false;
private float collectTime;
private double inRangeTime;
public CollectorDistanceState(PrototypeBot1 robot, String groupName, String actionName) { public CollectorDistanceState(PrototypeBot1 robot, String groupName, String actionName) {
@@ -28,6 +31,7 @@ public class CollectorDistanceState extends CyberarmState {
this.traveledDistance = robot.configuration.variable(groupName, actionName, "traveledDistance").value(); this.traveledDistance = robot.configuration.variable(groupName, actionName, "traveledDistance").value();
this.RampUpDistance = robot.configuration.variable(groupName, actionName, "RampUpDistance").value(); this.RampUpDistance = robot.configuration.variable(groupName, actionName, "RampUpDistance").value();
this.RampDownDistance = robot.configuration.variable(groupName, actionName, "RampDownDistance").value(); this.RampDownDistance = robot.configuration.variable(groupName, actionName, "RampDownDistance").value();
this.collectTime = robot.configuration.variable(groupName, actionName, "collectTime").value();
} }
@@ -147,9 +151,18 @@ public class CollectorDistanceState extends CyberarmState {
robot.frontLeftDrive.setPower(0); robot.frontLeftDrive.setPower(0);
robot.backRightDrive.setPower(0); robot.backRightDrive.setPower(0);
robot.backLeftDrive.setPower(0); robot.backLeftDrive.setPower(0);
robot.collectorRight.setPower(0);
robot.collectorLeft.setPower(0); if (!inRange){
setHasFinished(true); inRange = true;
inRangeTime = runTime();
} else {
if (runTime() - inRangeTime >= collectTime){
robot.collectorRight.setPower(0);
robot.collectorLeft.setPower(0);
setHasFinished(true);
}
}
} }