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Configuring Autonomous

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This commit is contained in:
Sodi
2022-11-11 16:45:18 -06:00
parent 69f5a5c785
commit 89628c8fd9
3 changed files with 9 additions and 2 deletions
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5
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
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@@ -11,6 +11,7 @@ import org.timecrafters.Autonomous.States.DriverParkPlaceState;
import org.timecrafters.Autonomous.States.DriverState; import org.timecrafters.Autonomous.States.DriverState;
import org.timecrafters.Autonomous.States.PathDecision; import org.timecrafters.Autonomous.States.PathDecision;
import org.timecrafters.Autonomous.States.RotationState; import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm; import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.testing.states.PhoenixBot1; import org.timecrafters.testing.states.PhoenixBot1;
@@ -22,7 +23,9 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
@Override @Override
public void setup() { public void setup() {
robot = new PhoenixBot1(this); robot = new PhoenixBot1(this);
addState(new ConeIdentification(robot, "LeftSideAutonomous", "00-0")); addState (new ServoCameraRotate(robot, "LeftSideAutonomous", "00-0"));
addState(new ConeIdentification(robot, "LeftSideAutonomous", "00-1"));
addState (new ServoCameraRotate(robot, "LeftSideAutonomous", "00-2"));
//drive to high pole //drive to high pole
addState(new DriverState(robot, "LeftSideAutonomous", "01-0")); addState(new DriverState(robot, "LeftSideAutonomous", "01-0"));
//turn towards high pole //turn towards high pole

5
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java
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@@ -11,6 +11,7 @@ import org.timecrafters.Autonomous.States.DriverState;
import org.timecrafters.Autonomous.States.BottomArm; import org.timecrafters.Autonomous.States.BottomArm;
import org.timecrafters.Autonomous.States.PathDecision; import org.timecrafters.Autonomous.States.PathDecision;
import org.timecrafters.Autonomous.States.RotationState; import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm; import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.testing.states.PhoenixBot1; import org.timecrafters.testing.states.PhoenixBot1;
@@ -22,7 +23,9 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
@Override @Override
public void setup() { public void setup() {
robot = new PhoenixBot1(this); robot = new PhoenixBot1(this);
addState(new ConeIdentification(robot, "RightSideAutonomous", "00-0")); addState(new ServoCameraRotate(robot, "RightSideAutonomous", "00-0"));
addState(new ConeIdentification(robot, "RightSideAutonomous", "00-1"));
addState(new ServoCameraRotate(robot, "RightSideAutonomous", "00-2"));
//drive to high pole //drive to high pole
addState(new DriverState(robot, "RightSideAutonomous", "01-0")); addState(new DriverState(robot, "RightSideAutonomous", "01-0"));
//turn towards high pole //turn towards high pole

1
TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java
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@@ -82,6 +82,7 @@ public class PhoenixBot1 {
//Camera Servo //Camera Servo
CameraServo = engine.hardwareMap.servo.get("Camera Servo"); CameraServo = engine.hardwareMap.servo.get("Camera Servo");
CameraServo.setDirection(Servo.Direction.REVERSE);
// Collector // Collector
collectorLeft = engine.hardwareMap.crservo.get("Collector Left"); collectorLeft = engine.hardwareMap.crservo.get("Collector Left");