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Autonomous has been wrote to acsend and descend the arms, and camera has been commented out

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This commit is contained in:
SpencerPiha
2022-10-22 15:45:17 -05:00
parent e04b3cb2f2
commit 5027b085c9
4 changed files with 11 additions and 8 deletions
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1
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java
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@@ -1,6 +1,7 @@
package org.timecrafters.Autonomous.Engines; package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.CollectorState; import org.timecrafters.Autonomous.States.CollectorState;

11
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverState.java
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@@ -11,19 +11,16 @@ public class DriverState extends CyberarmState {
this.traveledDistance = robot.configuration.variable(groupName, actionName, "traveledDistance").value(); this.traveledDistance = robot.configuration.variable(groupName, actionName, "traveledDistance").value();
} }
private float RobotRotation;
private double drivePower; private double drivePower;
private int RobotPosition,RobotStartingPosition,traveledDistance; private int traveledDistance;
@Override @Override
public void exec() { public void exec() {
if (RobotPosition - RobotStartingPosition < traveledDistance){ if (robot.frontRightDrive.getCurrentPosition() < traveledDistance){
drivePower = 1; robot.backLeftDrive.setPower(drivePower * 0.5);
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower); robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower * 0.5);
robot.frontRightDrive.setPower(drivePower); robot.frontRightDrive.setPower(drivePower);
} else { } else {
robot.backLeftDrive.setPower(0); robot.backLeftDrive.setPower(0);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java
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@@ -21,7 +21,7 @@ public class RotationState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation - 3 <= targetRotation || RobotRotation + 3 <= targetRotation) { if (RobotRotation <= targetRotation -3 || RobotRotation >= targetRotation + 3) {
robot.backLeftDrive.setPower(-drivePower); robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower); robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(-drivePower); robot.frontLeftDrive.setPower(-drivePower);

5
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -89,17 +89,22 @@ public class PrototypeBot1 {
//motors direction and encoders //motors direction and encoders
frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE); frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD); frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
frontRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE); backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD); backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
HighRiserLeft.setDirection(Servo.Direction.REVERSE); HighRiserLeft.setDirection(Servo.Direction.REVERSE);
HighRiserRight.setDirection(Servo.Direction.FORWARD); HighRiserRight.setDirection(Servo.Direction.FORWARD);
LowRiserLeft.setDirection(Servo.Direction.FORWARD); LowRiserLeft.setDirection(Servo.Direction.FORWARD);