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Autonomous work

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This commit is contained in:
SpencerPiha
2022-12-03 12:58:59 -06:00
parent 2749ede3b9
commit 47940bf300
4 changed files with 30 additions and 13 deletions
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17
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/ThreeConeCycleAutonomousEngine.java → TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
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@@ -3,21 +3,16 @@ 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 = "3 cone auto right")
public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
public class RightFourConeAutonomousEngine extends CyberarmEngine {
PhoenixBot1 robot;
@Override
@@ -25,13 +20,13 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
robot = new PhoenixBot1(this);
// 1 Rotate camera down at the signal
addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "01-0"));
addState(new ServoCameraRotate(robot, "RightFourCone", "01-0"));
// 2 Scan custom image
addState(new ConeIdentification(robot, "ThreeConeCycleAutonomousRight", "02-0"));
addState(new ConeIdentification(robot, "RightFourCone", "02-0"));
// 3 Rotate Camera up, out of the way so it doesn't crash into stuff
addState(new ServoCameraRotate(robot, "ThreeConeCycleAutonomousRight", "03-0"));
addState(new ServoCameraRotate(robot, "RightFourCone", "03-0"));
// 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel
addState(new DriverState(robot, "RightFourCone", "04-0"));
// 5 Turn Towards and look for junction with sensor
// 6 Raise lower arm while slowly driving at the junction
@@ -61,7 +56,6 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
// 18 Bring upper arm down
// 19 Drop cone
addState(new CollectorState(robot, "ThreeConeCycleAutonomousRight", "17-0"));
// 20 Bring upper arm up
@@ -70,7 +64,6 @@ public class ThreeConeCycleAutonomousEngine extends CyberarmEngine {
// 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)

3
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java
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@@ -14,13 +14,14 @@ public class ServoCameraRotate extends CyberarmState {
this.ServoPosition = robot.configuration.variable(groupName, actionName, "ServoPosition").value();
}
@Override
public void exec() {
if (stateDisabled) {
setHasFinished(true);
} else {
robot.CameraServo.setPosition(ServoPosition);
setHasFinished(true);
// setHasFinished(true);
}
}
}

21
TeamCode/src/main/java/org/timecrafters/TeleOp/engine/SterringDriveEngine.java Normal file
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@@ -0,0 +1,21 @@
package org.timecrafters.TeleOp.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.TeleOp.states.LaserState;
import org.timecrafters.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.SteeringDriveExperiment;
@TeleOp(name = "Steering Drive Test")
public class SterringDriveEngine extends CyberarmEngine {
public SterringDriveEngine(PhoenixBot1 robot) {
this.robot = robot;
}
PhoenixBot1 robot;
@Override
public void setup() {
robot = new PhoenixBot1(this);
addState(new SteeringDriveExperiment(robot));
}
}

2
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -125,6 +125,8 @@ public class PhoenixBot1 {
LowRiserLeft.setDirection(Servo.Direction.FORWARD);
LowRiserRight.setDirection(Servo.Direction.REVERSE);
CameraServo.setDirection(Servo.Direction.FORWARD);
LowRiserLeft.setPosition(0.35);
LowRiserRight.setPosition(0.35);
HighRiserLeft.setPosition(0.45);