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Minibot program- day 2

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This commit is contained in:
NerdyBirdy460
2023-03-08 16:07:18 -06:00
parent 647568b406
commit 2d1f930593
2 changed files with 32 additions and 14 deletions
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6
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java
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@@ -11,8 +11,8 @@ public class Mini2023Bot {
private final Mini2023Engine engine; private final Mini2023Engine engine;
public TimeCraftersConfiguration configuration; public TimeCraftersConfiguration configuration;
public DcMotor Opportunity, Spirit, Ingenuity; public DcMotor Opportunity, Spirit, Victoria, Endeavour; //Don't ask. Just don't.
public CRServo servoA, servoB, servoC; public CRServo servoA, servoB, servoC; //Just be thankful the servos have 'normal' names.
public Mini2023Bot(Mini2023Engine engine) { public Mini2023Bot(Mini2023Engine engine) {
this.engine = engine; this.engine = engine;
@@ -23,6 +23,8 @@ public class Mini2023Bot {
Opportunity = engine.hardwareMap.get(DcMotor.class, "Left Wheel"); Opportunity = engine.hardwareMap.get(DcMotor.class, "Left Wheel");
Spirit = engine.hardwareMap.get(DcMotor.class, "Right Wheel"); Spirit = engine.hardwareMap.get(DcMotor.class, "Right Wheel");
// Victoria = engine.hardwareMap.get(DcMotor.class, "Rear Dead Wheel");
// Endeavour = engine.hardwareMap.get(DcMotor.class, "Front Dead Wheel");
servoA = engine.hardwareMap.get(CRServo.class, "Servo 1"); servoA = engine.hardwareMap.get(CRServo.class, "Servo 1");
servoB = engine.hardwareMap.get(CRServo.class, "Servo 2"); servoB = engine.hardwareMap.get(CRServo.class, "Servo 2");

40
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java
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@@ -1,38 +1,54 @@
package org.timecrafters.minibots.states; package org.timecrafters.minibots.states;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.engines.Mini2023Engine;
public class Mini2023State extends CyberarmState { public class Mini2023State extends CyberarmState {
private final Mini2023Bot robot; private final Mini2023Bot robot;
public double driveSpeed, orbitSpeed; public double lThrust, rThrust, orbitSpeed;
public Mini2023State(Mini2023Bot robot) {this.robot = robot;} public Mini2023State(Mini2023Bot robot) {this.robot = robot;}
@Override @Override
public void init() { public void init() {
driveSpeed = 0; lThrust = 0;
rThrust = 0;
orbitSpeed = 0; orbitSpeed = 0;
robot.servoA.setPower(0); robot.servoA.setPower(0);
robot.servoB.setPower(0); robot.servoB.setPower(0);
robot.servoC.setPower(0); robot.servoC.setPower(0);
robot.Opportunity.setPower(driveSpeed); robot.Opportunity.setPower(lThrust);
robot.Spirit.setPower(driveSpeed); robot.Spirit.setPower(rThrust);
} }
@Override @Override
public void exec() { public void exec() {
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1) { if (Math.abs(engine.gamepad1.left_stick_y) > 0.1) {
orbitSpeed = engine.gamepad2.left_stick_y; lThrust = engine.gamepad2.left_stick_y;
robot.Opportunity.setPower(driveSpeed); robot.Opportunity.setPower(lThrust);
robot.Spirit.setPower(driveSpeed); } else {
lThrust = 0;
robot.Opportunity.setPower(lThrust);
} }
if (Math.abs(engine.gamepad1.right_stick_x) > 0.1) { if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) {
orbitSpeed = engine.gamepad1.right_stick_x * 0.75; rThrust = engine.gamepad1.right_stick_y;
robot.Spirit.setPower(rThrust);
} else {
rThrust = 0;
robot.Spirit.setPower(rThrust);
}
if (engine.gamepad1.right_trigger > 0.1) {
orbitSpeed = engine.gamepad1.right_trigger * 0.75;
robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed);
} else if (engine.gamepad1.left_trigger > 0.1) {
orbitSpeed = engine.gamepad1.left_trigger * 0.75;
robot.servoA.setPower(orbitSpeed); robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed); robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed); robot.servoC.setPower(orbitSpeed);