all servos working.

strafe needs weight balance to be efficient.

.idea/misc.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="JDK" project-jdk-type="JavaSDK">
+  <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" />
   </component>
   <component name="ProjectType">

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

@@ -1,8 +1,10 @@
 package org.timecrafters.minibots.cyberarm;
 
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 
@@ -15,24 +17,50 @@ public class MecanumMinibot {
     private CyberarmEngine engine;
 
     public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive;
+    public Servo  pServoRotate, pServoGrab;
+    public CRServo pServoArch, pServoElevate, pServoCarousel;
 
     public MecanumMinibot(CyberarmEngine engine) {
         this.engine = engine;
 
         setupDrivetrain();
+        setupServos();
     }
 
     private void setupDrivetrain() {
-        frontLeftDrive = engine.hardwareMap.dcMotor.get("frontLeft");
+        frontLeftDrive                          = engine.hardwareMap.dcMotor.get("frontLeft");  //2
-        frontRightDrive = engine.hardwareMap.dcMotor.get("frontRight");
+        frontRightDrive                         = engine.hardwareMap.dcMotor.get("frontRight"); //3
-        backLeftDrive = engine.hardwareMap.dcMotor.get("backLeft");
+        backLeftDrive                           = engine.hardwareMap.dcMotor.get("backLeft");   //1
-        backRightDrive = engine.hardwareMap.dcMotor.get("backRight");
+        backRightDrive                          = engine.hardwareMap.dcMotor.get("backRight");  //0
 
         frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
         frontRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
         backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
         backRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
     }
+    private void setupServos(){
+        pServoArch                              = engine.hardwareMap.crservo.get("arch");     //0
+        pServoElevate                           = engine.hardwareMap.crservo.get("elevate");  //2
+        pServoRotate                            = engine.hardwareMap.servo.get("rotate");   //3
+        pServoGrab                              = engine.hardwareMap.servo.get("grab");     //4
+        pServoCarousel                          = engine.hardwareMap.crservo.get("carousel"); //5
+
+        pServoRotate.scaleRange(0.0, 1.0);
+        pServoGrab.scaleRange(0.0, 1.0);
+
+        pServoArch.setDirection(DcMotorSimple.Direction.FORWARD);
+        pServoElevate.setDirection(DcMotorSimple.Direction.REVERSE);
+        pServoRotate.setDirection(Servo.Direction.FORWARD);
+        pServoGrab.setDirection(Servo.Direction.FORWARD);
+        pServoCarousel.setDirection(DcMotorSimple.Direction.FORWARD);
+
+        pServoArch.setPower(0.0);
+        pServoElevate.setPower(0.0);
+        pServoRotate.setPosition(0.70);
+        pServoGrab.setPosition(0.9);
+        pServoCarousel.setPower(0.0);
+
+    }
 
     public void driveAll(double power) {
         frontLeftDrive.setPower(power);
@@ -65,19 +93,22 @@ public class MecanumMinibot {
     }
 
     public void driveStrafe(int direction, double power) {
-        if (direction == STRAFE_LEFT) {
+        double dStrafeRatioBack=1.0;
-            frontLeftDrive.setPower(power);
+        double dStrafeRatioFront=0.5;
-            frontRightDrive.setPower(-power);
 
-            backLeftDrive.setPower(-power);
+        if (direction == STRAFE_LEFT) {
-            backRightDrive.setPower(power);
+            frontLeftDrive.setPower(power*dStrafeRatioFront);
+            frontRightDrive.setPower(-power*dStrafeRatioFront);
+
+            backLeftDrive.setPower(-power*dStrafeRatioBack);
+            backRightDrive.setPower(power*dStrafeRatioBack);
 
         } else if (direction == STRAFE_RIGHT) {
-            frontLeftDrive.setPower(-power);
+            frontLeftDrive.setPower(-power*dStrafeRatioFront);
-            frontRightDrive.setPower(power);
+            frontRightDrive.setPower(power*dStrafeRatioFront);
 
-            backLeftDrive.setPower(power);
+            backLeftDrive.setPower(power*dStrafeRatioBack);
-            backRightDrive.setPower(-power);
+            backRightDrive.setPower(-power*dStrafeRatioBack);
         } else {
             throw new RuntimeException("Invalid direction for driveStrafe()");
         }

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

@@ -6,6 +6,7 @@ import org.cyberarm.engine.V2.CyberarmEngine;
 import org.cyberarm.engine.V2.CyberarmState;
 import org.timecrafters.minibots.cyberarm.MecanumMinibot;
 
+
 public class MecanumMinibotTeleOpState extends CyberarmState {
     private final MecanumMinibot robot;
     private float speed;
@@ -16,6 +17,8 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
 
     @Override
     public void exec() {
+
+        /* ............................................................................ drive */
         speed = 1.0f - engine.gamepad1.left_trigger;
 
         if (engine.gamepad1.y) {
@@ -28,13 +31,60 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
             robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
 
         } else if (engine.gamepad1.left_bumper) {
-            robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
+            robot.driveTurn(MecanumMinibot.TURN_LEFT, speed*.5);
 
         } else if (engine.gamepad1.right_bumper) {
-            robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
+            robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed*.5);
         } else {
             robot.driveStop();
         }
+        /* ............................................................................ elevator */
+        if(engine.gamepad1.dpad_up){
+            robot.pServoElevate.setPower(1.0);
+        }
+        else if(engine.gamepad1.dpad_down){
+            robot.pServoElevate.setPower(-1.0);
+        }
+        else{
+            robot.pServoElevate.setPower((0.0));
+        }
+
+        /* ............................................................................ arch */
+        if(Math.abs(engine.gamepad1.left_stick_y)>0.1){
+            robot.pServoArch.setPower(engine.gamepad1.left_stick_y);
+        }
+        else{
+            robot.pServoArch.setPower((0.0));
+        }
+
+        /* ............................................................................ rotate */
+        if(engine.gamepad1.dpad_right){ // up position
+            robot.pServoRotate.setPosition(0.0);
+        }
+        if(engine.gamepad1.dpad_left){ // down position
+            robot.pServoRotate.setPosition(0.70);
+        }
+
+        /* ............................................................................ grab */
+        if(engine.gamepad1.left_stick_x>0.5|| engine.gamepad1.right_stick_x<-0.5){ // in
+            robot.pServoGrab.setPosition(0.9);
+        }
+        if(engine.gamepad1.left_stick_x<-0.5){ // small out
+            robot.pServoGrab.setPosition(0.50);
+        }
+        if(engine.gamepad1.right_stick_x>0.5){ // big out
+            robot.pServoGrab.setPosition(0.0);
+        }
+        /* ............................................................................ carousel */
+        if(Math.abs(engine.gamepad1.left_trigger)>0.1){
+            robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
+        }
+        else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
+            robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
+        }
+        else{
+            robot.pServoCarousel.setPower((0.0));
+        }
     }
 
     @Override

build.gradle

@@ -12,10 +12,9 @@ buildscript {
     repositories {
         mavenCentral()
         google()
-        jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:4.0.1'
+        classpath 'com.android.tools.build:gradle:7.1.1'
     }
 }
 
@@ -25,7 +24,6 @@ allprojects {
     repositories {
         mavenCentral()
         google()
-        jcenter()
     }
 }
 
@@ -38,11 +36,11 @@ repositories {
 }
 
 dependencies {
-    doc 'org.firstinspires.ftc:Hardware:6.2.0'
+    doc 'org.firstinspires.ftc:Hardware:7.0.0'
-    doc 'org.firstinspires.ftc:RobotCore:6.2.0'
+    doc 'org.firstinspires.ftc:RobotCore:7.0.0'
-    doc 'org.firstinspires.ftc:FtcCommon:6.2.0'
+    doc 'org.firstinspires.ftc:FtcCommon:7.0.0'
-    doc 'org.firstinspires.ftc:OnBotJava:6.2.0'
+    doc 'org.firstinspires.ftc:OnBotJava:7.0.0'
-    doc 'org.firstinspires.ftc:Inspection:6.2.0'
+    doc 'org.firstinspires.ftc:Inspection:7.0.0'
 }
 
 task extractJavadoc {

gradle/wrapper/gradle-wrapper.properties

@@ -3,4 +3,4 @@ distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-all.zip