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Tank drive w/ bumper strafe, playing with LEDS.

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This commit is contained in:
Sodi
2022-08-30 19:05:04 -05:00
parent 98ade45485
commit 66abbe2897
3 changed files with 114 additions and 0 deletions
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24
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/Engine.java Normal file
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package org.timecrafters.minibots.cyberarm;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.engines.Common;
@TeleOp (name = "light test")
public class Engine extends CyberarmEngine {
Common robot;
@Override
public void setup() {
robot = new Common(this);
addState(new State(robot));
}
}

63
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java Normal file
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package org.timecrafters.minibots.cyberarm;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.engines.Common;
public class State extends CyberarmState {
private final Common robot;
public State (Common robot) { this.robot = robot; }
@Override
public void init() {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
@Override
public void exec() {
if (engine.gamepad1.a) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
}
if (engine.gamepad1.x) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
}
if (engine.gamepad1.y) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
}
if (engine.gamepad1.b) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
}
}
}

27
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/Common.java Normal file
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package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmEngine;
public class Common {
private CyberarmEngine engine;
public RevBlinkinLedDriver leds;
public Common (CyberarmEngine engine) {
this.engine = engine;
setupRobot ();
}
private void setupRobot () {
leds = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
}
}