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RightSideAutonomous has drive backward and forward states after rotating towards both of the junctions for allignment.

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This commit is contained in:
SpencerPiha
2022-11-07 19:07:41 -06:00
parent 2f392d133b
commit 2da92450b5
1 changed files with 16 additions and 12 deletions
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28
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java
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@@ -33,6 +33,8 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
addState(new BottomArm(robot, "RightSideAutonomous", "04-0"));
//drive forward
addState(new DriverState(robot, "RightSideAutonomous", "05-0"));
// drive backward
addState(new DriverState(robot, "RightSideAutonomous", "05-1"));
//lower the bottom arm to get closer
addState(new TopArm(robot, "RightSideAutonomous", "06-0"));
//make collector release the cone
@@ -61,28 +63,30 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
addState(new DriverState(robot, "RightSideAutonomous", "17-0"));
// rotate
addState(new RotationState(robot, "RightSideAutonomous", "18-0"));
addState(new DriverState(robot, "RightSideAutonomous", "21-0"));
// drive slightly towards junction
addState(new DriverState(robot, "RightSideAutonomous", "18-1"));
// drive away from junction
addState(new DriverState(robot, "RightSideAutonomous", "18-2"));
// bring arm down.
addState(new TopArm(robot, "RightSideAutonomous", "22-0"));
addState(new TopArm(robot, "RightSideAutonomous", "19-0"));
// get rid of cone
addState(new CollectorState(robot, "RightSideAutonomous", "23-0"));
addState(new CollectorState(robot, "RightSideAutonomous", "20-0"));
// lift arm up to clear
addState(new TopArm(robot, "RightSideAutonomous", "24-0"));
addState(new TopArm(robot, "RightSideAutonomous", "21-0"));
// rotate towards stack of cones
addState(new RotationState(robot, "RightSideAutonomous", "28-0"));
addState(new RotationState(robot, "RightSideAutonomous", "22-0"));
// Choose Parking Spot
addState(new PathDecision(robot, "RightSideAutonomous", "29-0"));
addState(new PathDecision(robot, "RightSideAutonomous", "23-0"));
// case 1 drive forward
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "29-1"));
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "23-1"));
// case 2 drive forward
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "29-2"));
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "23-2"));
// case 3 drive forward
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "29-3"));
addState(new DriverParkPlaceState(robot, "RightSideAutonomous", "23-3"));
// zero out
addState(new RotationState(robot, "RightSideAutonomous", "30-0"));
addState(new RotationState(robot, "RightSideAutonomous", "24-0"));
// Top Arm Down
addState(new TopArm(robot, "RightSideAutonomous", "28-1"));
addState(new TopArm(robot, "RightSideAutonomous", "25-0"));
}
@Override