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Adding the switch-case for autonomous

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This commit is contained in:
Sodi
2022-10-17 20:36:00 -05:00
parent a28e692075
commit 75c42597fe
1 changed files with 100 additions and 5 deletions
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105
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -23,8 +23,9 @@ public class PrototypeTeleOPState extends CyberarmState {
private double speed = 1; // used for the normal speed while driving private double speed = 1; // used for the normal speed while driving
private double slowSpeed = 0.5; // used for slow mode speed while driving private double slowSpeed = 0.5; // used for slow mode speed while driving
private int CyclingArmUpAndDown = 0; private int CyclingArmUpAndDown = 0;
private int DriveForwardAndBack; private int DriveForwardAndBack, AutoChain;
private int RobotPosition, RobotStartingPosition; private int RobotPosition, RobotStartingPosition;
private double RobotRotation;
public PrototypeTeleOPState(PrototypeBot1 robot) { public PrototypeTeleOPState(PrototypeBot1 robot) {
this.robot = robot; this.robot = robot;
@@ -37,6 +38,7 @@ public class PrototypeTeleOPState extends CyberarmState {
engine.telemetry.addData("High Riser Left Position", robot.HighRiserLeft.getPosition()); engine.telemetry.addData("High Riser Left Position", robot.HighRiserLeft.getPosition());
engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition()); engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition());
engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition()); engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
engine.telemetry.addData("AutoChain", AutoChain);
// engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown); // engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
} }
@@ -228,10 +230,10 @@ public class PrototypeTeleOPState extends CyberarmState {
} // if gamepad 1 start ending } // if gamepad 1 start ending
else { else {
robot.backLeftDrive.setPower(0); // robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0); // robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0); // robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0); // robot.frontRightDrive.setPower(0);
} }
@@ -310,7 +312,100 @@ public class PrototypeTeleOPState extends CyberarmState {
} }
// For raising, high risers ALWAYS raise first, for lowering, low risers ALWAYS lower first. // For raising, high risers ALWAYS raise first, for lowering, low risers ALWAYS lower first.
if (engine.gamepad2.back) {
RobotPosition = robot.backRightDrive.getCurrentPosition();
switch (AutoChain) {
case 0://Initialize
RobotStartingPosition = RobotPosition;
AutoChain += 1;
break;
case 1://Drive 1 square forward
if (RobotPosition - RobotStartingPosition < 2500){
drivePower = 1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain += 1;
}
break;
case 2://Rotate Counterclockwise for 45 degrees
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation <= 45) {
drivePower = 0.4;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain += 1;
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
break;
case 3://Raise upper arm fully
if (robot.HighRiserLeft.getPosition() < 1) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} else {
AutoChain +=1;
}
break;
case 4://Raise lower arm fully
if (robot.LowRiserLeft.getPosition() < 1) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} else {
AutoChain += 1;
RobotStartingPosition = robot.backRightDrive.getCurrentPosition();
}
break;
case 5://Drive forward 1/4 square
if (RobotPosition - RobotStartingPosition < 1200){
drivePower = 1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain =999;
}
break;
case 999:
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
break;
}
}
} }
} }