TimeCrafters/FTC_2022
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Rename the code

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This commit is contained in:
Sodi
2022-11-08 20:04:13 -06:00
parent 83a3cbcff8
commit 2d078b0045
4 changed files with 31 additions and 31 deletions
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23
TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixTeleOP.java Normal file
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@@ -0,0 +1,23 @@
package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.testing.states.PhoenixBot1;
import org.timecrafters.testing.states.PhoenixTeleOPState;
@TeleOp (name = "PhoenixTeleOP")
public class PhoenixTeleOP extends CyberarmEngine {
PhoenixBot1 robot;
@Override
public void setup() {
robot = new PhoenixBot1(this);
addState(new PhoenixTeleOPState(robot));
}
}

23
TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java
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@@ -1,23 +0,0 @@
package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.testing.states.PrototypeBot1;
import org.timecrafters.testing.states.PrototypeTeleOPState;
@TeleOp (name = "PrototypeTeleOP")
public class PrototypeTeleOP extends CyberarmEngine {
PrototypeBot1 robot;
@Override
public void setup() {
robot = new PrototypeBot1(this);
addState(new PrototypeTeleOPState(robot));
}
}

4
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java → TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java
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@@ -16,7 +16,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector; import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration; import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
public class PrototypeBot1 { public class PhoenixBot1 {
private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite"; private static final String TFOD_MODEL_ASSET = "PowerPlay.tflite";
@@ -47,7 +47,7 @@ public class PrototypeBot1 {
public TimeCraftersConfiguration configuration; public TimeCraftersConfiguration configuration;
public PrototypeBot1(CyberarmEngine engine) { public PhoenixBot1(CyberarmEngine engine) {
this.engine = engine; this.engine = engine;
initVuforia(); initVuforia();

12
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java → TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPState.java
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@@ -10,9 +10,9 @@ import com.vuforia.Vuforia;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.cyberarm.engine.V2.GamepadChecker; import org.cyberarm.engine.V2.GamepadChecker;
public class PrototypeTeleOPState extends CyberarmState { public class PhoenixTeleOPState extends CyberarmState {
private final PrototypeBot1 robot; private final PhoenixBot1 robot;
private double drivePower = 1; private double drivePower = 1;
private long lastStepTime = 0; private long lastStepTime = 0;
private int CyclingArmUpAndDown = 0; private int CyclingArmUpAndDown = 0;
@@ -21,7 +21,7 @@ public class PrototypeTeleOPState extends CyberarmState {
private double MinimalPower = 0.2; private double MinimalPower = 0.2;
private GamepadChecker gamepad1Checker, gamepad2Checker; private GamepadChecker gamepad1Checker, gamepad2Checker;
public PrototypeTeleOPState(PrototypeBot1 robot) { public PhoenixTeleOPState(PhoenixBot1 robot) {
this.robot = robot; this.robot = robot;
} }
@@ -148,21 +148,21 @@ public class PrototypeTeleOPState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = 0; RotationTarget = 0;
CalculateDeltaRotation(); CalculateDeltaRotation();
if (RobotRotation < -3) { if (RobotRotation < -1) {
drivePower = (-1 * DeltaRotation/180) - MinimalPower; drivePower = (-1 * DeltaRotation/180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower); robot.frontRightDrive.setPower(-drivePower);
} }
if (RobotRotation > 3) { if (RobotRotation > 1) {
drivePower = (1 * DeltaRotation/180) + MinimalPower; drivePower = (1 * DeltaRotation/180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower); robot.frontRightDrive.setPower(-drivePower);
} }
if (RobotRotation > -3 && RobotRotation < 3) { if (RobotRotation > -1 && RobotRotation < 1) {
drivePower = 0; drivePower = 0;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower);