TimeCrafters/FTC_2022
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Configuration

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This commit is contained in:
SpencerPiha
2022-10-20 19:32:40 -05:00
parent 9fb6416f02
commit 7442efa1c9
2 changed files with 25 additions and 1 deletions
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21
TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
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@@ -1,11 +1,32 @@
package org.timecrafters.Autonomous.States; package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.testing.states.PrototypeBot1;
public class LowerArm extends CyberarmState { public class LowerArm extends CyberarmState {
PrototypeBot1 robot;
double LowerRiserRightPos, LowerRiserLeftPos;
long time;
long lastStepTime = 0;
public LowerArm(PrototypeBot1 robot, String groupName, String actionName) {
this.robot = robot;
this.LowerRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
this.LowerRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value();
}
@Override @Override
public void exec() { public void exec() {
if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos) {
if (System.currentTimeMillis() - lastStepTime >= time) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - LowerRiserLeftPos);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - LowerRiserRightPos);
}
}
} }
} }

5
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -9,6 +9,7 @@ import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;
import org.firstinspires.ftc.robotcore.external.navigation.Position; import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity; import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
public class PrototypeBot1 { public class PrototypeBot1 {
@@ -21,6 +22,8 @@ public class PrototypeBot1 {
public BNO055IMU imu; public BNO055IMU imu;
public TimeCraftersConfiguration configuration;
// public Servo collectorWrist; // public Servo collectorWrist;
public PrototypeBot1(CyberarmEngine engine) { public PrototypeBot1(CyberarmEngine engine) {
@@ -42,7 +45,7 @@ public class PrototypeBot1 {
imu.startAccelerationIntegration(new Position(), new Velocity(), 10); imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
configuration = new TimeCraftersConfiguration("Phoenix");
//motors configuration //motors configuration
frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left"); frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");