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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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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 {
}