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

.idea/misc.xml

@@ -1,5 +1,10 @@
 <?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" />

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/PortsCheckGeneric.java

@@ -0,0 +1,9 @@
+package org.timecrafters.minibots.cyberarm;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+
+public class PortsCheckGeneric {
+
+    private CyberarmEngine engine;
+
+}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java

@@ -1,91 +0,0 @@
-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);
-
-
-    }
-}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/BlitzkriegState.java

@@ -0,0 +1,4 @@
+package org.timecrafters.minibots.cyberarm.states;
+
+public class BlitzkriegState {
+}

TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java

@@ -0,0 +1,23 @@
+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));
+
+    }
+}

TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java

@@ -0,0 +1,51 @@
+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);
+
+        }
+
+    }

TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java

@@ -0,0 +1,88 @@
+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);
+
+        }
+    }
+}