From e9fdbee3f690b5bc6ccdf263206ea04bb80ef492 Mon Sep 17 00:00:00 2001 From: scottbadger777 <37743855+scottbadger777@users.noreply.github.com> Date: Tue, 1 Mar 2022 20:36:05 -0600 Subject: [PATCH 1/2] pickle --- .../org/cyberarm/engine/V2/CyberarmState.java | 2 + .../minibots/cyberarm/MecanumMinibot.java | 4 +- .../cyberarm/engines/pickle_engine.java | 21 ++ .../minibots/cyberarm/pickle_minibot.java | 17 ++ .../minibots/cyberarm/states/.editorconfig | 250 ++++++++++++++++++ .../states/MecanumMinibotTeleOpState.java | 5 + .../states/pickle_telescope_state.java | 21 ++ 7 files changed, 318 insertions(+), 2 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/.editorconfig create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java index 9d28f0d..350c978 100644 --- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java +++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java @@ -232,4 +232,6 @@ public abstract class CyberarmState implements Runnable { public String progressBar(int width, double percentCompleted) { return progressBar(width, percentCompleted, "=", " "); } + + public abstract void exac(); } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/MecanumMinibot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/MecanumMinibot.java index 738d9a4..f749324 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/MecanumMinibot.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/MecanumMinibot.java @@ -41,8 +41,8 @@ public class MecanumMinibot { 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 + 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); diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java new file mode 100644 index 0000000..dcf1a73 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java @@ -0,0 +1,21 @@ +package org.timecrafters.minibots.cyberarm.engines; + +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.cyberarm.engine.V2.CyberarmEngine; +import org.timecrafters.minibots.cyberarm.pickle_minibot; +import org.timecrafters.minibots.cyberarm.states.pickle_telescope_state; + +@TeleOp (name = "pickle_minibot teleop", group = "minibot") +public class pickle_engine extends CyberarmEngine { + pickle_minibot robot; + + @Override + public void setup (){ + robot = new pickle_minibot(this); + + + addState(new pickle_telescope_state(robot)); + } + +} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java new file mode 100644 index 0000000..f7a6cc6 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java @@ -0,0 +1,17 @@ +package org.timecrafters.minibots.cyberarm; + +import com.qualcomm.robotcore.hardware.DcMotor; + +import org.cyberarm.engine.V2.CyberarmEngine; + +public class pickle_minibot { + private CyberarmEngine engine; + + public DcMotor pLeftFront; + + public pickle_minibot (CyberarmEngine engine){ + this.engine=engine; + + pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft"); + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/.editorconfig b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/.editorconfig new file mode 100644 index 0000000..e54a0a2 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/.editorconfig @@ -0,0 +1,250 @@ +root = true + +[*] +charset = utf-8 +end_of_line = crlf +indent_size = 4 +indent_style = space +insert_final_newline = false +max_line_length = 100 +tab_width = 4 +ij_continuation_indent_size = 8 +ij_formatter_off_tag = @formatter:off +ij_formatter_on_tag = @formatter:on +ij_formatter_tags_enabled = false +ij_smart_tabs = false +ij_visual_guides = none +ij_wrap_on_typing = false + +[*.java] +ij_java_align_consecutive_assignments = false +ij_java_align_consecutive_variable_declarations = false +ij_java_align_group_field_declarations = false +ij_java_align_multiline_annotation_parameters = false +ij_java_align_multiline_array_initializer_expression = false +ij_java_align_multiline_assignment = false +ij_java_align_multiline_binary_operation = false +ij_java_align_multiline_chained_methods = false +ij_java_align_multiline_extends_list = false +ij_java_align_multiline_for = true +ij_java_align_multiline_method_parentheses = false +ij_java_align_multiline_parameters = true +ij_java_align_multiline_parameters_in_calls = false +ij_java_align_multiline_parenthesized_expression = false +ij_java_align_multiline_records = true +ij_java_align_multiline_resources = true +ij_java_align_multiline_ternary_operation = false +ij_java_align_multiline_text_blocks = false +ij_java_align_multiline_throws_list = false +ij_java_align_subsequent_simple_methods = false +ij_java_align_throws_keyword = false +ij_java_annotation_parameter_wrap = off +ij_java_array_initializer_new_line_after_left_brace = false +ij_java_array_initializer_right_brace_on_new_line = false +ij_java_array_initializer_wrap = off +ij_java_assert_statement_colon_on_next_line = false +ij_java_assert_statement_wrap = off +ij_java_assignment_wrap = off +ij_java_binary_operation_sign_on_next_line = false +ij_java_binary_operation_wrap = off +ij_java_blank_lines_after_anonymous_class_header = 0 +ij_java_blank_lines_after_class_header = 0 +ij_java_blank_lines_after_imports = 1 +ij_java_blank_lines_after_package = 1 +ij_java_blank_lines_around_class = 1 +ij_java_blank_lines_around_field = 0 +ij_java_blank_lines_around_field_in_interface = 0 +ij_java_blank_lines_around_initializer = 1 +ij_java_blank_lines_around_method = 1 +ij_java_blank_lines_around_method_in_interface = 1 +ij_java_blank_lines_before_class_end = 0 +ij_java_blank_lines_before_imports = 1 +ij_java_blank_lines_before_method_body = 0 +ij_java_blank_lines_before_package = 0 +ij_java_block_brace_style = end_of_line +ij_java_block_comment_at_first_column = true +ij_java_builder_methods = none +ij_java_call_parameters_new_line_after_left_paren = false +ij_java_call_parameters_right_paren_on_new_line = false +ij_java_call_parameters_wrap = off +ij_java_case_statement_on_separate_line = true +ij_java_catch_on_new_line = false +ij_java_class_annotation_wrap = split_into_lines +ij_java_class_brace_style = end_of_line +ij_java_class_count_to_use_import_on_demand = 99 +ij_java_class_names_in_javadoc = 1 +ij_java_do_not_indent_top_level_class_members = false +ij_java_do_not_wrap_after_single_annotation = false +ij_java_do_while_brace_force = never +ij_java_doc_add_blank_line_after_description = true +ij_java_doc_add_blank_line_after_param_comments = false +ij_java_doc_add_blank_line_after_return = false +ij_java_doc_add_p_tag_on_empty_lines = true +ij_java_doc_align_exception_comments = true +ij_java_doc_align_param_comments = true +ij_java_doc_do_not_wrap_if_one_line = false +ij_java_doc_enable_formatting = true +ij_java_doc_enable_leading_asterisks = true +ij_java_doc_indent_on_continuation = false +ij_java_doc_keep_empty_lines = true +ij_java_doc_keep_empty_parameter_tag = true +ij_java_doc_keep_empty_return_tag = true +ij_java_doc_keep_empty_throws_tag = true +ij_java_doc_keep_invalid_tags = true +ij_java_doc_param_description_on_new_line = false +ij_java_doc_preserve_line_breaks = false +ij_java_doc_use_throws_not_exception_tag = true +ij_java_else_on_new_line = false +ij_java_enum_constants_wrap = off +ij_java_extends_keyword_wrap = off +ij_java_extends_list_wrap = off +ij_java_field_annotation_wrap = split_into_lines +ij_java_finally_on_new_line = false +ij_java_for_brace_force = never +ij_java_for_statement_new_line_after_left_paren = false +ij_java_for_statement_right_paren_on_new_line = false +ij_java_for_statement_wrap = off +ij_java_generate_final_locals = false +ij_java_generate_final_parameters = false +ij_java_if_brace_force = never +ij_java_imports_layout = $android.**,$androidx.**,$com.**,$junit.**,$net.**,$org.**,$java.**,$javax.**,$*,|,android.**,|,androidx.**,|,com.**,|,junit.**,|,net.**,|,org.**,|,java.**,|,javax.**,|,*,| +ij_java_indent_case_from_switch = true +ij_java_insert_inner_class_imports = false +ij_java_insert_override_annotation = true +ij_java_keep_blank_lines_before_right_brace = 2 +ij_java_keep_blank_lines_between_package_declaration_and_header = 2 +ij_java_keep_blank_lines_in_code = 2 +ij_java_keep_blank_lines_in_declarations = 2 +ij_java_keep_builder_methods_indents = false +ij_java_keep_control_statement_in_one_line = true +ij_java_keep_first_column_comment = true +ij_java_keep_indents_on_empty_lines = false +ij_java_keep_line_breaks = true +ij_java_keep_multiple_expressions_in_one_line = false +ij_java_keep_simple_blocks_in_one_line = false +ij_java_keep_simple_classes_in_one_line = false +ij_java_keep_simple_lambdas_in_one_line = false +ij_java_keep_simple_methods_in_one_line = false +ij_java_label_indent_absolute = false +ij_java_label_indent_size = 0 +ij_java_lambda_brace_style = end_of_line +ij_java_layout_static_imports_separately = true +ij_java_line_comment_add_space = false +ij_java_line_comment_at_first_column = true +ij_java_method_annotation_wrap = split_into_lines +ij_java_method_brace_style = end_of_line +ij_java_method_call_chain_wrap = off +ij_java_method_parameters_new_line_after_left_paren = false +ij_java_method_parameters_right_paren_on_new_line = false +ij_java_method_parameters_wrap = off +ij_java_modifier_list_wrap = false +ij_java_names_count_to_use_import_on_demand = 99 +ij_java_new_line_after_lparen_in_record_header = false +ij_java_parameter_annotation_wrap = off +ij_java_parentheses_expression_new_line_after_left_paren = false +ij_java_parentheses_expression_right_paren_on_new_line = false +ij_java_place_assignment_sign_on_next_line = false +ij_java_prefer_longer_names = true +ij_java_prefer_parameters_wrap = false +ij_java_record_components_wrap = normal +ij_java_repeat_synchronized = true +ij_java_replace_instanceof_and_cast = false +ij_java_replace_null_check = true +ij_java_replace_sum_lambda_with_method_ref = true +ij_java_resource_list_new_line_after_left_paren = false +ij_java_resource_list_right_paren_on_new_line = false +ij_java_resource_list_wrap = off +ij_java_rparen_on_new_line_in_record_header = false +ij_java_space_after_closing_angle_bracket_in_type_argument = false +ij_java_space_after_colon = true +ij_java_space_after_comma = true +ij_java_space_after_comma_in_type_arguments = true +ij_java_space_after_for_semicolon = true +ij_java_space_after_quest = true +ij_java_space_after_type_cast = true +ij_java_space_before_annotation_array_initializer_left_brace = false +ij_java_space_before_annotation_parameter_list = false +ij_java_space_before_array_initializer_left_brace = false +ij_java_space_before_catch_keyword = true +ij_java_space_before_catch_left_brace = true +ij_java_space_before_catch_parentheses = true +ij_java_space_before_class_left_brace = true +ij_java_space_before_colon = true +ij_java_space_before_colon_in_foreach = true +ij_java_space_before_comma = false +ij_java_space_before_do_left_brace = true +ij_java_space_before_else_keyword = true +ij_java_space_before_else_left_brace = true +ij_java_space_before_finally_keyword = true +ij_java_space_before_finally_left_brace = true +ij_java_space_before_for_left_brace = true +ij_java_space_before_for_parentheses = true +ij_java_space_before_for_semicolon = false +ij_java_space_before_if_left_brace = true +ij_java_space_before_if_parentheses = true +ij_java_space_before_method_call_parentheses = false +ij_java_space_before_method_left_brace = true +ij_java_space_before_method_parentheses = false +ij_java_space_before_opening_angle_bracket_in_type_parameter = false +ij_java_space_before_quest = true +ij_java_space_before_switch_left_brace = true +ij_java_space_before_switch_parentheses = true +ij_java_space_before_synchronized_left_brace = true +ij_java_space_before_synchronized_parentheses = true +ij_java_space_before_try_left_brace = true +ij_java_space_before_try_parentheses = true +ij_java_space_before_type_parameter_list = false +ij_java_space_before_while_keyword = true +ij_java_space_before_while_left_brace = true +ij_java_space_before_while_parentheses = true +ij_java_space_inside_one_line_enum_braces = false +ij_java_space_within_empty_array_initializer_braces = false +ij_java_space_within_empty_method_call_parentheses = false +ij_java_space_within_empty_method_parentheses = false +ij_java_spaces_around_additive_operators = true +ij_java_spaces_around_assignment_operators = true +ij_java_spaces_around_bitwise_operators = true +ij_java_spaces_around_equality_operators = true +ij_java_spaces_around_lambda_arrow = true +ij_java_spaces_around_logical_operators = true +ij_java_spaces_around_method_ref_dbl_colon = false +ij_java_spaces_around_multiplicative_operators = true +ij_java_spaces_around_relational_operators = true +ij_java_spaces_around_shift_operators = true +ij_java_spaces_around_type_bounds_in_type_parameters = true +ij_java_spaces_around_unary_operator = false +ij_java_spaces_within_angle_brackets = false +ij_java_spaces_within_annotation_parentheses = false +ij_java_spaces_within_array_initializer_braces = false +ij_java_spaces_within_braces = false +ij_java_spaces_within_brackets = false +ij_java_spaces_within_cast_parentheses = false +ij_java_spaces_within_catch_parentheses = false +ij_java_spaces_within_for_parentheses = false +ij_java_spaces_within_if_parentheses = false +ij_java_spaces_within_method_call_parentheses = false +ij_java_spaces_within_method_parentheses = false +ij_java_spaces_within_parentheses = false +ij_java_spaces_within_record_header = false +ij_java_spaces_within_switch_parentheses = false +ij_java_spaces_within_synchronized_parentheses = false +ij_java_spaces_within_try_parentheses = false +ij_java_spaces_within_while_parentheses = false +ij_java_special_else_if_treatment = true +ij_java_subclass_name_suffix = Impl +ij_java_ternary_operation_signs_on_next_line = false +ij_java_ternary_operation_wrap = off +ij_java_test_name_suffix = Test +ij_java_throws_keyword_wrap = off +ij_java_throws_list_wrap = off +ij_java_use_external_annotations = false +ij_java_use_fq_class_names = false +ij_java_use_relative_indents = false +ij_java_use_single_class_imports = true +ij_java_variable_annotation_wrap = off +ij_java_visibility = public +ij_java_while_brace_force = never +ij_java_while_on_new_line = false +ij_java_wrap_comments = false +ij_java_wrap_first_method_in_call_chain = false +ij_java_wrap_long_lines = false diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java index 9fcc773..c19883e 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java @@ -105,6 +105,11 @@ public class MecanumMinibotTeleOpState extends CyberarmState { super.buttonUp(gamepad, button); } + @Override + public void exac() { + + } + @Override public void telemetry() { engine.telemetry.addData("speed", speed); diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java new file mode 100644 index 0000000..eff270d --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java @@ -0,0 +1,21 @@ +package org.timecrafters.minibots.cyberarm.states; + +import org.cyberarm.engine.V2.CyberarmState; +import org.timecrafters.minibots.cyberarm.pickle_minibot; + +public class pickle_telescope_state extends CyberarmState { + private final pickle_minibot robot; + public pickle_telescope_state(pickle_minibot robot){this.robot = robot;} + + @Override + public void exec() { + robot.pLeftFront.setPower(1); + + } + + @Override + public void exac() { + + } +} + From cf0526acaeccc96d741280fd0a1d58c0c8e7a48d Mon Sep 17 00:00:00 2001 From: scottbadger777 <37743855+scottbadger777@users.noreply.github.com> Date: Thu, 10 Mar 2022 20:18:34 -0600 Subject: [PATCH 2/2] vexy working --- .../cyberarm/engines/pickle_engine.java | 12 ++- .../minibots/cyberarm/pickle_minibot.java | 17 ---- .../cyberarm/pickle_minibot_general.java | 30 +++++++ .../cyberarm/states/pickle_teleop_state.java | 85 +++++++++++++++++++ .../states/pickle_telescope_state.java | 21 ----- 5 files changed, 120 insertions(+), 45 deletions(-) delete mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java delete mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java index dcf1a73..e9f764f 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java @@ -3,19 +3,17 @@ package org.timecrafters.minibots.cyberarm.engines; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.cyberarm.engine.V2.CyberarmEngine; -import org.timecrafters.minibots.cyberarm.pickle_minibot; -import org.timecrafters.minibots.cyberarm.states.pickle_telescope_state; +import org.timecrafters.minibots.cyberarm.pickle_minibot_general; +import org.timecrafters.minibots.cyberarm.states.pickle_teleop_state; @TeleOp (name = "pickle_minibot teleop", group = "minibot") public class pickle_engine extends CyberarmEngine { - pickle_minibot robot; + pickle_minibot_general robot; @Override public void setup (){ - robot = new pickle_minibot(this); - - - addState(new pickle_telescope_state(robot)); + robot = new pickle_minibot_general(this); + addState(new pickle_teleop_state(robot)); } } diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java deleted file mode 100644 index f7a6cc6..0000000 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java +++ /dev/null @@ -1,17 +0,0 @@ -package org.timecrafters.minibots.cyberarm; - -import com.qualcomm.robotcore.hardware.DcMotor; - -import org.cyberarm.engine.V2.CyberarmEngine; - -public class pickle_minibot { - private CyberarmEngine engine; - - public DcMotor pLeftFront; - - public pickle_minibot (CyberarmEngine engine){ - this.engine=engine; - - pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft"); - } -} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java new file mode 100644 index 0000000..dc5f65e --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java @@ -0,0 +1,30 @@ +package org.timecrafters.minibots.cyberarm; + +import com.qualcomm.robotcore.hardware.CRServo; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.Servo; + +import org.cyberarm.engine.V2.CyberarmEngine; + +public class pickle_minibot_general { + private CyberarmEngine engine; + + public DcMotor pLeftFront, pRightFront; + public DcMotor pLeftBack, pRightBack; + public CRServo pServoArch, pServoCarousel, pServoElevate; + public Servo pServoRotate, pServoGrab; + + public pickle_minibot_general(CyberarmEngine engine){ + this.engine=engine; + + pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft"); + pRightFront = engine.hardwareMap.dcMotor.get("frontRight"); + pLeftBack = engine.hardwareMap.dcMotor.get("backLeft"); + pRightBack = engine.hardwareMap.dcMotor.get("backRight"); + pServoArch = engine.hardwareMap.crservo.get("arch");//dpad up and down + pServoCarousel = engine.hardwareMap.crservo.get("carousel");// bumper + pServoElevate = engine.hardwareMap.crservo.get("elevate");// left and right dpad + pServoRotate = engine.hardwareMap.servo.get("rotate"); // triggers >:( + pServoGrab = engine.hardwareMap.servo.get("grab"); + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java new file mode 100644 index 0000000..a36efd6 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java @@ -0,0 +1,85 @@ +package org.timecrafters.minibots.cyberarm.states; + +import org.cyberarm.engine.V2.CyberarmState; +import org.timecrafters.minibots.cyberarm.pickle_minibot_general; + +public class pickle_teleop_state extends CyberarmState { + private final pickle_minibot_general robot; + public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;} + + @Override + public void exec() { + double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY; + dDrivePowerY = engine.gamepad1.left_stick_y; + dDrivePowerX = engine.gamepad1.left_stick_x; + dRotatePowerY = engine.gamepad1.right_stick_y; + dRotatePowerX = engine.gamepad1.right_stick_x; + if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) { + robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX); + robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX); + robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX); + robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX); + } + else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){ + robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX); + robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX); + robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX); + robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX); + } + else { + robot.pLeftFront.setPower(0); + robot.pRightFront.setPower(0); + robot.pRightBack.setPower(0); + robot.pLeftBack.setPower(0); + } + + if (engine.gamepad1.dpad_up){ + robot.pServoArch.setPower(1); + + } + else if (engine.gamepad1.dpad_down){ + robot.pServoArch.setPower(-1); + + } + else { + robot.pServoArch.setPower(0); + } + if (engine.gamepad1.left_bumper){ + robot.pServoCarousel.setPower(1); + } + else if (engine.gamepad1.right_bumper) { + robot.pServoCarousel.setPower(-1); + } + else { + robot.pServoCarousel.setPower(0); + } + if (engine.gamepad1.dpad_left){ + robot.pServoElevate.setPower(1); + + }else if (engine.gamepad1.dpad_right){ + robot.pServoElevate.setPower(-1); + + } else { + robot.pServoElevate.setPower(0); + } + if (engine.gamepad1.left_trigger>.1){ + robot.pServoRotate.setPosition(.7);// full down + } + else if (engine.gamepad1.right_trigger>.1){ + robot.pServoRotate.setPosition(0);//full up + + }if (engine.gamepad1.a){ + robot.pServoGrab.setPosition(1); + + }else if (engine.gamepad1.b){ + robot.pServoGrab.setPosition(0); + } + } + + @Override + public void exac() { + + } + +} + diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java deleted file mode 100644 index eff270d..0000000 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.timecrafters.minibots.cyberarm.states; - -import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.minibots.cyberarm.pickle_minibot; - -public class pickle_telescope_state extends CyberarmState { - private final pickle_minibot robot; - public pickle_telescope_state(pickle_minibot robot){this.robot = robot;} - - @Override - public void exec() { - robot.pLeftFront.setPower(1); - - } - - @Override - public void exac() { - - } -} -