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Tested Arm Motor and Collector Wrist, added Rack Risers.

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This commit is contained in:
Sodi
2022-09-17 11:57:11 -05:00
parent 90f605e558
commit 26ba99afab
2 changed files with 22 additions and 2 deletions
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5
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -9,7 +9,8 @@ import org.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeBot1 { public class PrototypeBot1 {
private CyberarmEngine engine; public Servo RackRiserLeft, RackRiserRight;
private final CyberarmEngine engine;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, armMotor; public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, armMotor;
@@ -36,6 +37,8 @@ public class PrototypeBot1 {
collectorLeft = engine.hardwareMap.crservo.get("collector left"); collectorLeft = engine.hardwareMap.crservo.get("collector left");
collectorRight = engine.hardwareMap.crservo.get("collector right"); collectorRight = engine.hardwareMap.crservo.get("collector right");
collectorWrist = engine.hardwareMap.servo.get("collector wrist"); collectorWrist = engine.hardwareMap.servo.get("collector wrist");
RackRiserLeft = engine.hardwareMap.servo.get("RackRiserLeft");
RackRiserRight = engine.hardwareMap.servo.get("RackRiserRight");
//motors direction and encoders //motors direction and encoders
frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD); frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);

19
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
View File

@@ -5,6 +5,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import java.lang.annotation.Target; import java.lang.annotation.Target;
import java.util.Objects;
public class PrototypeTeleOPState extends CyberarmState { public class PrototypeTeleOPState extends CyberarmState {
@@ -16,6 +17,7 @@ public class PrototypeTeleOPState extends CyberarmState {
private double drivePower = 1; private double drivePower = 1;
private boolean UpDPad; private boolean UpDPad;
private int armTargetPosition = 0, armCollectPosition = 125, armDeliverPosition = 400; private int armTargetPosition = 0, armCollectPosition = 125, armDeliverPosition = 400;
private double collectorRiserPosition;
public PrototypeTeleOPState(PrototypeBot1 robot) { public PrototypeTeleOPState(PrototypeBot1 robot) {
this.robot = robot; this.robot = robot;
@@ -26,6 +28,7 @@ public class PrototypeTeleOPState extends CyberarmState {
engine.telemetry.addData("Arm Power", robot.armMotor.getPower()); engine.telemetry.addData("Arm Power", robot.armMotor.getPower());
engine.telemetry.addData("Arm Target Position", robot.armMotor.getTargetPosition()); engine.telemetry.addData("Arm Target Position", robot.armMotor.getTargetPosition());
engine.telemetry.addData("Arm Current Position", robot.armMotor.getCurrentPosition()); engine.telemetry.addData("Arm Current Position", robot.armMotor.getCurrentPosition());
engine.telemetry.addData("Wrist Current Position", robot.collectorWrist.getPosition());
} }
@Override @Override
@@ -115,7 +118,7 @@ public class PrototypeTeleOPState extends CyberarmState {
if (engine.gamepad2.dpad_left) { if (engine.gamepad2.dpad_left) {
robot.collectorWrist.setPosition(0.2); robot.collectorWrist.setPosition(0.4);
} }
@@ -164,5 +167,19 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.armMotor.setTargetPosition(armTargetPosition); robot.armMotor.setTargetPosition(armTargetPosition);
if (engine.gamepad1.a) {
robot.RackRiserLeft.setPosition(0);
robot.RackRiserRight.setPosition(1);
}
if (engine.gamepad1.x) {
robot.RackRiserLeft.setPosition(0.5);
robot.RackRiserRight.setPosition(1-.5);
// .5's are originally .13's.
}
} }
} }