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Tank drive w/ bumper strafe, playing with LEDS and sensors.

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This commit is contained in:
Sodi
2022-09-06 20:31:03 -05:00
parent 0b74a5dde5
commit 7ad255c2c7
4 changed files with 156 additions and 6 deletions
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8
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java
View File

@@ -26,7 +26,7 @@ public class State extends CyberarmState {
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_FOREST_PALETTE);
}
if (engine.gamepad1.x) {
@@ -36,7 +36,7 @@ public class State extends CyberarmState {
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_OCEAN_PALETTE);
}
if (engine.gamepad1.y) {
@@ -46,7 +46,7 @@ public class State extends CyberarmState {
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.STROBE_GOLD);
}
if (engine.gamepad1.b) {
@@ -56,7 +56,7 @@ public class State extends CyberarmState {
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_LIGHT_CHASE);
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_LAVA_PALETTE);
}
}

112
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java Normal file
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@@ -0,0 +1,112 @@
package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class AssignmentOmniKinetic extends CyberarmState {
CRServo Wheel, Rack;
DcMotor Three, Zero, Two, One;
Servo Zygo;
@Override
public void init() {
super.init();
Wheel=engine.hardwareMap.crservo.get("Wheel");
Rack=engine.hardwareMap.crservo.get("Rack");
Three=engine.hardwareMap.dcMotor.get("Three");
Zero=engine.hardwareMap.dcMotor.get("Zero");
Two=engine.hardwareMap.dcMotor.get("Two");
One=engine.hardwareMap.dcMotor.get("One");
Zygo=engine.hardwareMap.servo.get("Zygo");
}
MecanumRobot robot;
public AssignmentOmniKinetic (MecanumRobot robot) {this.robot = robot;}
@Override
public void exec() {
if (engine.gamepad1.dpad_up) {
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
}
if (engine.gamepad1.dpad_down) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(-1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.dpad_left) {
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(-1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(1);
}
if (engine.gamepad1.) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.left_bumper) {
Zygo.setPosition(1.0);
}
if (engine.gamepad1.right_bumper) {
Zygo.setPosition(0);
}
if (engine.gamepad1.a) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.GREEN));
}
if (engine.gamepad1.b) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.RED));
}
if (engine.gamepad1.x) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.BLUE));
}
if (engine.gamepad1.y) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.YELLOW));
}
}
}

22
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AutonomousReversalExperiment.java Normal file
View File

@@ -0,0 +1,22 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class AutonomousReversalExperiment extends CyberarmState {
MecanumRobot robot;
public AutonomousReversalExperiment (MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if (engine.gamepad1.dpad_up) {
}
}
}

20
TeamCode/src/main/java/org/timecrafters/testing/states/LaserState.java
View File

@@ -1,11 +1,13 @@
package org.timecrafters.testing.states;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.hardware.rev.RevTouchSensor;
import com.qualcomm.robotcore.hardware.ColorSensor;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
public class LaserState extends CyberarmState {
Rev2mDistanceSensor laser;
@@ -13,6 +15,15 @@ public class LaserState extends CyberarmState {
RevTouchSensor Mag;
ColorSensor Speck;
MecanumRobot robot;
public LaserState(MecanumRobot robot) {
this.robot = robot;
}
public LaserState() {
}
@Override
public void init() {
@@ -27,11 +38,16 @@ public class LaserState extends CyberarmState {
engine.telemetry.addData("Laser Distance", laser.getDistance(DistanceUnit.CM));
engine.telemetry.addData("The Feels", Tack.isPressed());
engine.telemetry.addData("Eel", Mag.isPressed());
engine.telemetry.addData("Pretty Colors", ", Red " + Speck.red() + ", Green " + Speck.green() + ", Blue " + Speck.blue() );
engine.telemetry.addData("Pretty Colors", ", Red " + Speck.red() + ", Green " + Speck.green() + ", Blue " + Speck.blue());
}
@Override
public void exec() {
if (Tack.isPressed() & !Mag.isPressed()) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}
}
}
}