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Adding semi-autonomous functions, variable names are *NOT* inspired by the story of Spirit and Opportunity, the names are a coincidence.

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This commit is contained in:
Sodi
2023-01-19 20:36:09 -06:00
parent e9cc326b65
commit 505aeb850a
3 changed files with 35 additions and 6 deletions
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7
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java
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@@ -5,6 +5,7 @@ import org.cyberarm.engine.V2.CyberarmState;
public class PhoenixTeleOPv2 extends CyberarmState {
private double drivePower = 1;
PhoenixBot1 robot;
public PhoenixTeleOPv2(PhoenixBot1 robot) {
this.robot = robot;
}
@@ -15,7 +16,6 @@ public class PhoenixTeleOPv2 extends CyberarmState {
addParallelState(new TeleOPTankDriver(robot));
}
@Override
@@ -45,9 +45,8 @@ public class PhoenixTeleOPv2 extends CyberarmState {
robot.backRightDrive.setPower(BRPower);
robot.frontLeftDrive.setPower(FLPower);
robot.frontRightDrive.setPower(FRPower);
}
if (engine.gamepad1.right_stick_x )
}
}

18
TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java
View File

@@ -4,12 +4,15 @@ import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
import org.cyberarm.engine.V2.GamepadChecker;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
public class TeleOPArmDriver extends CyberarmState {
private final PhoenixBot1 robot;
private long lastStepTime = 0;
private int CyclingArmUpAndDown = 0;
private GamepadChecker gamepad2Checker;
private int Opportunity, Endeavour;
private double drivePower;
public TeleOPArmDriver(PhoenixBot1 robot) {
this.robot = robot;
@@ -34,6 +37,8 @@ public class TeleOPArmDriver extends CyberarmState {
robot.LowRiserRight.setPosition(0.45);
robot.HighRiserLeft.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45);
Opportunity = 0;
Endeavour = 10;
gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
@@ -41,6 +46,15 @@ public class TeleOPArmDriver extends CyberarmState {
@Override
public void exec() {
if (robot.collectorDistance.getDistance(DistanceUnit.MM) < 275 && robot.collectorDistance.getDistance(DistanceUnit.MM) > 100) {
Endeavour = 0;
}
}
}
if (robot.collectorDistance.getDistance(DistanceUnit.MM) < 550 && robot.collectorDistance.getDistance(DistanceUnit.MM) > 275) {
Endeavour = 1;
}
}
}

16
TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
View File

@@ -9,10 +9,12 @@ import org.cyberarm.engine.V2.GamepadChecker;
public class TeleOPTankDriver extends CyberarmState {
private final PhoenixBot1 robot;
private long lastStepTime = 0;
private double drivePower = 0.3;
private double RobotRotation;
private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.2;
private int DeltaOdometerR, Endeavour, Spirit;
private GamepadChecker gamepad1Checker;
public TeleOPTankDriver(PhoenixBot1 robot) {
this.robot = robot;
@@ -34,6 +36,10 @@ public class TeleOPTankDriver extends CyberarmState {
@Override
public void exec() {
if (drivePower > 0.1 && ) {
}
}
public void CalculateDeltaRotation() {
if (RotationTarget >= 0 && RobotRotation >= 0) {
@@ -49,6 +55,16 @@ public class TeleOPTankDriver extends CyberarmState {
DeltaRotation = Math.abs(RobotRotation + RotationTarget);
}
}
public double getDeltaOdometerR() {
Spirit = robot.OdometerEncoder.getCurrentPosition();
if (System.currentTimeMillis() - lastStepTime >= 1000) {
lastStepTime = System.currentTimeMillis();
DeltaOdometerR = robot.OdometerEncoder.getCurrentPosition() - Spirit;
}
return DeltaOdometerR;
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (engine.gamepad1 == gamepad && button.equals("start")) {