diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java index 1798d83..f6d78a9 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java @@ -13,7 +13,7 @@ import org.timecrafters.Autonomous.States.PathDecision; import org.timecrafters.Autonomous.States.RotationState; import org.timecrafters.Autonomous.States.ServoCameraRotate; import org.timecrafters.Autonomous.States.TopArm; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; @Autonomous (name = "Left Side") diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java index dd0ff23..249b0ed 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java @@ -5,7 +5,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import org.cyberarm.engine.V2.CyberarmEngine; import org.timecrafters.Autonomous.States.CollectorDistanceState; import org.timecrafters.Autonomous.States.CollectorState; -import org.timecrafters.Autonomous.States.ConeIdentification; import org.timecrafters.Autonomous.States.DriverParkPlaceState; import org.timecrafters.Autonomous.States.DriverState; import org.timecrafters.Autonomous.States.BottomArm; @@ -13,7 +12,7 @@ import org.timecrafters.Autonomous.States.PathDecision; import org.timecrafters.Autonomous.States.RotationState; import org.timecrafters.Autonomous.States.ServoCameraRotate; import org.timecrafters.Autonomous.States.TopArm; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; @Autonomous (name = "Right Side") diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java new file mode 100644 index 0000000..f9ecc4e --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java @@ -0,0 +1,107 @@ +package org.timecrafters.Autonomous.Engines; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; + +import org.cyberarm.engine.V2.CyberarmEngine; +import org.timecrafters.Autonomous.States.BottomArm; +import org.timecrafters.Autonomous.States.CollectorDistanceState; +import org.timecrafters.Autonomous.States.CollectorState; +import org.timecrafters.Autonomous.States.ConeIdentification; +import org.timecrafters.Autonomous.States.DriverParkPlaceState; +import org.timecrafters.Autonomous.States.DriverState; +import org.timecrafters.Autonomous.States.PathDecision; +import org.timecrafters.Autonomous.States.RotationState; +import org.timecrafters.Autonomous.States.ServoCameraRotate; +import org.timecrafters.Autonomous.States.TopArm; +import org.timecrafters.TeleOp.states.PhoenixBot1; + +@Autonomous (name = "Right Side") + +public class ThreeConeCycleAutonomousEngine extends CyberarmEngine { + PhoenixBot1 robot; + + @Override + public void setup() { + robot = new PhoenixBot1(this); + + // 1 Rotate camera down at the signal + addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "01-0")); + // 2 Scan custom image + addState(new ConeIdentification(robot, "ThreeConeCycleAutonomousRight", "02-0")); + // 3 Rotate Camera up, out of the way so it doesn't crash into stuff + addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "03-0")); + // 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel + + // 5 Turn Towards and look for junction with sensor + + // 6 Raise lower arm while slowly driving at the junction + + // 7 Drop top arm down on the junction to place cone + + // 8 Drop cone as soon as arm is in position + + // 9 Raise arm to clear junction + + // 10 Back up and bring lower arm down (parallel state) + + // 11 Bring upper arm to the correct position for the top cone on stack (check with distance sensor) + + // 12 Rotate towards stack (this might be parallel with last step) + + // 13 Drive at stack while collecting and check to see when we grab it + + // 14 Back up and raise arm (in parallel state) + + // 15 Drive All the way back to the medium Junction and raise upper arm (parallel state) + + // 16 Rotate and use sensor to find junction + + // 17 Drive Towards Junction (This is optional, idk if this is needed atm) + + // 18 Bring upper arm down + + // 19 Drop cone + addState(new CollectorState(robot, "ThreeConeCycleAutonomousRight", "17-0")); + + // 20 Bring upper arm up + + // 21 Drive away from Junction (this is optional and only used if we use the drive forward from earlier) + + // 22 Drop the Upper arm to the position of the new top cone / 4th cone and check with sensor and start driving fast to get to the stack (this is a parallel state) + + // 23 Drive slower at the stack and run the collector to grab a 2nd cone off of the stack + addState(new CollectorDistanceState(robot, "ThreeConeCycleAutonomousRight", "21-0")); + + // 24 Drive Back and lift up all the way to position for the low junction (parallel state) + + // 25 Drive back faster after the cone is fully off of the stack + + // 26 Turn and look for the low junction with the distance sensor and align + + // 27 Drive forward / backwards if you need to. (check with distance sensor) + + // 28 Bring Upper arm down on junction + + // 29 Let go of cone right after arm is in position + + // 30 Raise arm as soon as the cone is dropped + + // 31 Back up / go forward (optional, only needed if we drove forwards or backwards to align to low junction + + // 32 Rotate towards Stack of cones + + // 33 Decide which path after scanning image from earlier + + // 34 Drive backwards, forwards, or stay put + + // 35 Rotate towards alliance terminal + + } + + @Override + public void loop() { + super.loop(); + + telemetry.addData("BlackBoard Input", blackboard.get("parkPlace")); + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/BottomArm.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/BottomArm.java index d95cd97..9f08bfd 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/BottomArm.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/BottomArm.java @@ -1,7 +1,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class BottomArm extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java index 04a9f67..69b36c2 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java @@ -4,7 +4,7 @@ import com.qualcomm.robotcore.hardware.DcMotor; import org.cyberarm.engine.V2.CyberarmState; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class CollectorDistanceState extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java index 3588551..9740d47 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java @@ -2,7 +2,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class CollectorState extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java index 4641b26..a0cd811 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java @@ -1,10 +1,8 @@ package org.timecrafters.Autonomous.States; -import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.telemetry; - import org.cyberarm.engine.V2.CyberarmState; import org.firstinspires.ftc.robotcore.external.tfod.Recognition; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; import java.util.List; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java index 3d82752..816e91c 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java @@ -3,7 +3,7 @@ package org.timecrafters.Autonomous.States; import com.qualcomm.robotcore.hardware.DcMotor; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class DriverParkPlaceState extends CyberarmState { private final boolean stateDisabled; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java index 130a734..4b6e387 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java @@ -3,7 +3,7 @@ package org.timecrafters.Autonomous.States; import com.qualcomm.robotcore.hardware.DcMotor; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class DriverState extends CyberarmState { private final boolean stateDisabled; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java index 69b9c99..051f527 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java @@ -1,7 +1,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class PathDecision extends CyberarmState { PhoenixBot1 robot; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java index 3a65fd1..6c4ce04 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java @@ -1,7 +1,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class RotationState extends CyberarmState { private final boolean stateDisabled; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java index 0f8d85b..4dc8d75 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java @@ -1,7 +1,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class ServoCameraRotate extends CyberarmState { private final boolean stateDisabled; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArm.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArm.java index 8827861..d2b71db 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArm.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArm.java @@ -1,7 +1,7 @@ package org.timecrafters.Autonomous.States; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.PhoenixBot1; public class TopArm extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/AdafruitIMU.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/AdafruitIMU.java similarity index 73% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/AdafruitIMU.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/AdafruitIMU.java index 5e5457f..7fb62ca 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/AdafruitIMU.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/AdafruitIMU.java @@ -1,9 +1,9 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.cyberarm.engine.V2.CyberarmEngine; -import org.timecrafters.testing.states.AdafruitIMUState; +import org.timecrafters.TeleOp.states.AdafruitIMUState; @TeleOp (name = "Adafruit IMU") public class AdafruitIMU extends CyberarmEngine { @Override diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/CameraTestEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/CameraTestEngine.java similarity index 78% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/CameraTestEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/CameraTestEngine.java index ee87c3a..650d286 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/CameraTestEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/CameraTestEngine.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; import org.cyberarm.engine.V2.CyberarmEngine; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/DynamicSetupEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/DynamicSetupEngine.java similarity index 84% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/DynamicSetupEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/DynamicSetupEngine.java index f870274..3a2d26b 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/DynamicSetupEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/DynamicSetupEngine.java @@ -1,10 +1,8 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.cyberarm.engine.V2.CyberarmEngine; -import org.cyberarm.engine.V2.CyberarmState; import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration; @TeleOp(name = "DynamicSetupEngine") diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixTeleOP.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java similarity index 64% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixTeleOP.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java index 7007368..daf4121 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixTeleOP.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java @@ -1,11 +1,9 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.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; +import org.timecrafters.TeleOp.states.PhoenixBot1; @TeleOp (name = "APhoenixTeleOP") diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixWingEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java similarity index 94% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixWingEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java index df2abe5..e842f5e 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/PhoenixWingEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.robotcore.hardware.CRServo; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SodiEngine.java similarity index 63% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SodiEngine.java index 93fe81a..a5a8f93 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SodiEngine.java @@ -1,11 +1,9 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.cyberarm.engine.V2.CyberarmEngine; -import org.timecrafters.testing.states.LaserState; -import org.timecrafters.testing.states.SodiLEDState; -import org.timecrafters.testing.states.SodiState; +import org.timecrafters.TeleOp.states.LaserState; @TeleOp(name = "Wheel") public class SodiEngine extends CyberarmEngine { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/SpeedrunEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SpeedrunEngine.java similarity index 90% rename from TeamCode/src/main/java/org/timecrafters/testing/engine/SpeedrunEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SpeedrunEngine.java index 7031fc2..436ffe7 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/engine/SpeedrunEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SpeedrunEngine.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.engine; +package org.timecrafters.TeleOp.engine; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.Gamepad; @@ -6,8 +6,8 @@ import com.qualcomm.robotcore.hardware.Gamepad; import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.GamepadChecker; import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration; -import org.timecrafters.testing.states.PhoenixBot1; -import org.timecrafters.testing.states.TeleOPSpeedrunState; +import org.timecrafters.TeleOp.states.PhoenixBot1; +import org.timecrafters.TeleOp.states.TeleOPSpeedrunState; @TeleOp (name = "Speedrun Engine") public class SpeedrunEngine extends CyberarmEngine { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/AdafruitIMUState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/AdafruitIMUState.java similarity index 95% rename from TeamCode/src/main/java/org/timecrafters/testing/states/AdafruitIMUState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/AdafruitIMUState.java index 2a0dcdd..3fe331b 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/AdafruitIMUState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/AdafruitIMUState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.adafruit.AdafruitBNO055IMU; import com.qualcomm.hardware.bosch.BNO055IMU; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestCommon.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestCommon.java similarity index 97% rename from TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestCommon.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestCommon.java index 0697b14..6cc53f0 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestCommon.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestCommon.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmEngine; import org.firstinspires.ftc.robotcore.external.tfod.Recognition; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestState.java similarity index 78% rename from TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestState.java index f8ee353..604bb06 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/CameraTestState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/CameraTestState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/DynamicSetupState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/DynamicSetupState.java similarity index 87% rename from TeamCode/src/main/java/org/timecrafters/testing/states/DynamicSetupState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/DynamicSetupState.java index cd2bc39..d04c96c 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/DynamicSetupState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/DynamicSetupState.java @@ -1,7 +1,7 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.testing.engine.DynamicSetupEngine; +import org.timecrafters.TeleOp.engine.DynamicSetupEngine; public class DynamicSetupState extends CyberarmState { private long delay; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserServoHeight.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java similarity index 96% rename from TeamCode/src/main/java/org/timecrafters/testing/states/LaserServoHeight.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java index f9ceb91..5844f69 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserServoHeight.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.rev.Rev2mDistanceSensor; import com.qualcomm.robotcore.hardware.Servo; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java similarity index 97% rename from TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java index a67bd91..0e95662 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.rev.Rev2mDistanceSensor; import com.qualcomm.hardware.rev.RevBlinkinLedDriver; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java similarity index 98% rename from TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java index afa9f46..3070528 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java @@ -1,8 +1,7 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.adafruit.AdafruitI2cColorSensor; import com.qualcomm.hardware.bosch.BNO055IMU; -import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cColorSensor; import com.qualcomm.hardware.rev.Rev2mDistanceSensor; import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.hardware.DcMotor; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java similarity index 98% rename from TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java index 5bf5aef..5efa54b 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java @@ -1,11 +1,10 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import android.annotation.SuppressLint; import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.Servo; -import com.vuforia.Vuforia; import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.GamepadChecker; @@ -89,13 +88,13 @@ public class PhoenixTeleOPState extends CyberarmState { } if (Math.abs(engine.gamepad1.left_stick_y) > 0.05) { - drivePower = engine.gamepad1.left_stick_y * 0.3; + drivePower = engine.gamepad1.left_stick_y * 0.35; robot.backRightDrive.setPower(drivePower); robot.frontRightDrive.setPower(drivePower); } if (Math.abs(engine.gamepad1.right_stick_y) > 0.05) { - drivePower = engine.gamepad1.right_stick_y * 0.3; + drivePower = engine.gamepad1.right_stick_y * 0.35; robot.backLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower); } diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPv2.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java similarity index 82% rename from TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPv2.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java index 2004f27..31058c9 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixTeleOPv2.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java @@ -1,6 +1,5 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; -import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmState; public class PhoenixTeleOPv2 extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java similarity index 78% rename from TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java index d18601b..1418adb 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiLEDState.java similarity index 93% rename from TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiLEDState.java index 2a7b9cb..772bd2c 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/SodiLEDState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiLEDState.java @@ -1,9 +1,8 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.rev.RevBlinkinLedDriver; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.minibots.cyberarm.engines.Common; public class SodiLEDState extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/SodiState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiState.java similarity index 97% rename from TeamCode/src/main/java/org/timecrafters/testing/states/SodiState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiState.java index 8fccc45..5fde6a5 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/SodiState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SodiState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.robotcore.hardware.CRServo; import com.qualcomm.robotcore.hardware.DcMotor; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/SteeringDriveExperiment.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SteeringDriveExperiment.java similarity index 92% rename from TeamCode/src/main/java/org/timecrafters/testing/states/SteeringDriveExperiment.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/SteeringDriveExperiment.java index 7928b04..bbb06d9 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/SteeringDriveExperiment.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/SteeringDriveExperiment.java @@ -1,9 +1,6 @@ -package org.timecrafters.testing.states; - -import com.qualcomm.hardware.rev.RevBlinkinLedDriver; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.minibots.cyberarm.states.MecanumRobot; public class SteeringDriveExperiment extends CyberarmState { diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPArmDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java similarity index 99% rename from TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPArmDriver.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java index 369c52a..958d925 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPArmDriver.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.robotcore.hardware.Servo; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPSpeedrunState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPSpeedrunState.java similarity index 96% rename from TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPSpeedrunState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPSpeedrunState.java index de34dd7..af02237 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPSpeedrunState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPSpeedrunState.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.robotcore.hardware.DcMotor; diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPTankDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java similarity index 99% rename from TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPTankDriver.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java index 44e955a..39b5d0f 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPTankDriver.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java @@ -1,4 +1,4 @@ -package org.timecrafters.testing.states; +package org.timecrafters.TeleOp.states; import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.robotcore.hardware.Gamepad; @@ -9,7 +9,7 @@ import org.cyberarm.engine.V2.GamepadChecker; public class TeleOPTankDriver extends CyberarmState { private final PhoenixBot1 robot; - private double drivePower = 1; + private double drivePower = 0.3; private double RobotRotation; private double RotationTarget, DeltaRotation; private double MinimalPower = 0.2; diff --git a/build.gradle b/build.gradle index 4f9be88..bf60b09 100644 --- a/build.gradle +++ b/build.gradle @@ -10,7 +10,7 @@ buildscript { google() } dependencies { - classpath 'com.android.tools.build:gradle:7.2.2' + classpath 'com.android.tools.build:gradle:7.3.0' } }