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Tank drive w/ bumper strafe, playing with LEDS and sensors.

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This commit is contained in:
Sodi
2022-09-12 18:39:46 -05:00
parent dbfb73de50
commit 5ab41381bd
7 changed files with 180 additions and 91 deletions
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5
.idea/misc.xml generated
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="EntryPointsManager">
<list size="1">
<item index="0" class="java.lang.String" itemvalue="com.qualcomm.robotcore.eventloop.opmode.TeleOp" />
</list>
</component>
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />

9
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/PortsCheckGeneric.java Normal file
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package org.timecrafters.minibots.cyberarm;
import org.cyberarm.engine.V2.CyberarmEngine;
public class PortsCheckGeneric {
private CyberarmEngine engine;
}

91
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java
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package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class AssignmentOmniKinetic extends CyberarmState {
CRServo Wheel, Rack;
DcMotor Three, Zero, Two, One;
Servo Zygo;
@Override
public void init() {
super.init();
Wheel=engine.hardwareMap.crservo.get("Wheel");
Rack=engine.hardwareMap.crservo.get("Rack");
Three=engine.hardwareMap.dcMotor.get("Three");
Zero=engine.hardwareMap.dcMotor.get("Zero");
Two=engine.hardwareMap.dcMotor.get("Two");
One=engine.hardwareMap.dcMotor.get("One");
Zygo=engine.hardwareMap.servo.get("Zygo");
}
MecanumRobot robot;
public AssignmentOmniKinetic (MecanumRobot robot) {this.robot = robot;}
@Override
public void exec() {
if (engine.gamepad1.left_bumper) {
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(-1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(1);
}
if (engine.gamepad1.right_bumper) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.dpad_up) {
Zygo.setPosition(1.0);
}
if (engine.gamepad1.dpad_down) {
Zygo.setPosition(0);
}
if (engine.gamepad1.a) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.GREEN));
}
if (engine.gamepad1.b) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.RED));
}
if (engine.gamepad1.x) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.BLUE));
}
if (engine.gamepad1.y) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.YELLOW));
}
Three.setPower(engine.gamepad1.left_stick_y * 1);
Two.setPower(engine.gamepad1.left_stick_y * 1);
One.setPower(engine.gamepad1.right_stick_y * 1);
Zero.setPower(engine.gamepad1.right_stick_y * 1);
}
}

4
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/BlitzkriegState.java Normal file
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package org.timecrafters.minibots.cyberarm.states;
public class BlitzkriegState {
}

23
TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java Normal file
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package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.testing.states.PrototypeBot1;
import org.timecrafters.testing.states.PrototypeTeleOPState;
@TeleOp (name = "PrototypeTeleOP")
public class PrototypeTeleOP extends CyberarmEngine {
PrototypeBot1 robot;
@Override
public void setup() {
robot = new PrototypeBot1(this);
addState(new PrototypeTeleOPState(robot));
}
}

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TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java Normal file
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package org.timecrafters.testing.states;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import org.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeBot1 {
private CyberarmEngine engine;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, armMotor;
public CRServo collectorLeft, collectorRight;
public PrototypeBot1(CyberarmEngine engine) {
this.engine = engine;
setupRobot();
}
private void setupRobot () {
//motors configuration
frontLeftDrive = engine.hardwareMap.dcMotor.get("front left");
frontRightDrive = engine.hardwareMap.dcMotor.get("front right");
backRightDrive = engine.hardwareMap.dcMotor.get("back left");
backLeftDrive = engine.hardwareMap.dcMotor.get("back right");
armMotor = engine.hardwareMap.dcMotor.get("arm motor");
// servo configuration
collectorLeft = engine.hardwareMap.crservo.get("collector left");
collectorRight = engine.hardwareMap.crservo.get("collector right");
//motors direction and encoders
frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
}

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TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java Normal file
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package org.timecrafters.testing.states;
import org.cyberarm.engine.V2.CyberarmState;
public class PrototypeTeleOPState extends CyberarmState {
private final PrototypeBot1 robot;
public boolean A;
public boolean X;
public boolean Y;
private boolean bprev;
private double drivePower = 1;
public PrototypeTeleOPState(PrototypeBot1 robot) {
this.robot = robot;
}
@Override
public void exec() {
//Gamepad Read
A = engine.gamepad1.a;
X = engine.gamepad1.x;
Y = engine.gamepad1.y;
//drive speed toggle
boolean b = engine.gamepad1.b;
if (b && !bprev) {
if (drivePower == 1) {
drivePower = 0.5;
} else {
drivePower = 1;
}
}
//Drivetrain Variables
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.left_stick_x;
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
// at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
// As I programed this and ran it, I realized everything was backwards
// in direction so to fix that i either went in the robot object state and reversed
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower);
robot.backLeftDrive.setPower(backLeftPower);
robot.frontRightDrive.setPower(-frontRightPower);
robot.backRightDrive.setPower(backRightPower);
robot.armMotor.setPower(engine.gamepad1.left_stick_y * 0.5);
if (engine.gamepad1.y) {
robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0);
}
if (engine.gamepad1.a) {
robot.collectorLeft.setPower(1);
robot.collectorRight.setPower(-1);
}
if (engine.gamepad1.x) {
robot.collectorLeft.setPower(-1);
robot.collectorRight.setPower(1);
}
}
}