mirror of
https://github.com/TimeCrafters/FTC_2022
synced 2025-12-15 14:22:34 +00:00
Removed invalid CyberarmState#exac
This commit is contained in:
@@ -232,6 +232,4 @@ public abstract class CyberarmState implements Runnable {
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public String progressBar(int width, double percentCompleted) {
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return progressBar(width, percentCompleted, "=", " ");
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}
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public abstract void exac();
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}
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@@ -1,117 +1,112 @@
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package org.timecrafters.minibots.cyberarm.states;
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import com.qualcomm.robotcore.hardware.Gamepad;
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import org.cyberarm.engine.V2.CyberarmState;
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import org.timecrafters.minibots.cyberarm.MecanumMinibot;
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public class MecanumMinibotTeleOpState extends CyberarmState {
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private final MecanumMinibot robot;
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private float speed;
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public MecanumMinibotTeleOpState(MecanumMinibot robot) {
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this.robot = robot;
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}
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@Override
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public void exec() {
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/* ............................................................................ drive */
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speed = 1.0f - engine.gamepad1.left_trigger;
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if (engine.gamepad1.y) {
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robot.driveAll(speed);
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} else if (engine.gamepad1.a) {
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robot.driveAll(-speed);
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} else if (engine.gamepad1.x) {
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robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed);
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} else if (engine.gamepad1.b) {
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robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
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} else if (engine.gamepad1.left_bumper) {
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robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
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} else if (engine.gamepad1.right_bumper) {
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robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
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} else {
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robot.driveStop();
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}
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/* ............................................................................ elevator */
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if(engine.gamepad1.dpad_up ||
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engine.gamepad2.y){
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robot.pServoElevate.setPower(1.0);
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}
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else if(engine.gamepad1.dpad_down ||
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engine.gamepad2.a){
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robot.pServoElevate.setPower(-1.0);
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}
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else{
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robot.pServoElevate.setPower((0.0));
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}
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/* ............................................................................ arch */
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if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
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Math.abs(engine.gamepad2.left_stick_y)>0.1){
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robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
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}
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else{
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robot.pServoArch.setPower((0.0));
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}
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/* ............................................................................ rotate */
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if(engine.gamepad1.dpad_right ||
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engine.gamepad2.dpad_right){ // up position
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robot.pServoRotate.setPosition(0.0);
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}
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if(engine.gamepad1.dpad_left ||
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engine.gamepad2.dpad_left){ // down position
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robot.pServoRotate.setPosition(0.70);
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}
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/* ............................................................................ grab */
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if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
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engine.gamepad2.x){ // in
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robot.pServoGrab.setPosition(0.9);
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}
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if(engine.gamepad1.back ||
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engine.gamepad2.back){ // small out
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robot.pServoGrab.setPosition(0.50);
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}
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if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
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engine.gamepad2.b){ // big out
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robot.pServoGrab.setPosition(0.0);
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}
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/* ............................................................................ carousel */
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if(Math.abs(engine.gamepad1.left_trigger)>0.1){
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robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
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}
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else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
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robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
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}
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else{
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robot.pServoCarousel.setPower((0.0));
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}
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}
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@Override
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public void buttonDown(Gamepad gamepad, String button) {
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super.buttonDown(gamepad, button);
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}
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@Override
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public void buttonUp(Gamepad gamepad, String button) {
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super.buttonUp(gamepad, button);
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}
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@Override
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public void exac() {
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}
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@Override
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public void telemetry() {
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engine.telemetry.addData("speed", speed);
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}
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}
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package org.timecrafters.minibots.cyberarm.states;
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import com.qualcomm.robotcore.hardware.Gamepad;
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import org.cyberarm.engine.V2.CyberarmState;
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import org.timecrafters.minibots.cyberarm.MecanumMinibot;
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public class MecanumMinibotTeleOpState extends CyberarmState {
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private final MecanumMinibot robot;
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private float speed;
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public MecanumMinibotTeleOpState(MecanumMinibot robot) {
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this.robot = robot;
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}
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@Override
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public void exec() {
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/* ............................................................................ drive */
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speed = 1.0f - engine.gamepad1.left_trigger;
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if (engine.gamepad1.y) {
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robot.driveAll(speed);
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} else if (engine.gamepad1.a) {
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robot.driveAll(-speed);
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} else if (engine.gamepad1.x) {
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robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed);
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} else if (engine.gamepad1.b) {
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robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
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} else if (engine.gamepad1.left_bumper) {
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robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
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} else if (engine.gamepad1.right_bumper) {
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robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
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} else {
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robot.driveStop();
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}
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/* ............................................................................ elevator */
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if(engine.gamepad1.dpad_up ||
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engine.gamepad2.y){
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robot.pServoElevate.setPower(1.0);
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}
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else if(engine.gamepad1.dpad_down ||
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engine.gamepad2.a){
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robot.pServoElevate.setPower(-1.0);
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}
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else{
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robot.pServoElevate.setPower((0.0));
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}
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/* ............................................................................ arch */
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if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
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Math.abs(engine.gamepad2.left_stick_y)>0.1){
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robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
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}
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else{
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robot.pServoArch.setPower((0.0));
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}
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/* ............................................................................ rotate */
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if(engine.gamepad1.dpad_right ||
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engine.gamepad2.dpad_right){ // up position
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robot.pServoRotate.setPosition(0.0);
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}
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if(engine.gamepad1.dpad_left ||
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engine.gamepad2.dpad_left){ // down position
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robot.pServoRotate.setPosition(0.70);
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}
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/* ............................................................................ grab */
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if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
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engine.gamepad2.x){ // in
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robot.pServoGrab.setPosition(0.9);
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}
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if(engine.gamepad1.back ||
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engine.gamepad2.back){ // small out
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robot.pServoGrab.setPosition(0.50);
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}
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if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
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engine.gamepad2.b){ // big out
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robot.pServoGrab.setPosition(0.0);
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}
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/* ............................................................................ carousel */
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if(Math.abs(engine.gamepad1.left_trigger)>0.1){
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robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
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}
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else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
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robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
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}
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else{
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robot.pServoCarousel.setPower((0.0));
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}
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}
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@Override
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public void buttonDown(Gamepad gamepad, String button) {
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super.buttonDown(gamepad, button);
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}
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@Override
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public void buttonUp(Gamepad gamepad, String button) {
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super.buttonUp(gamepad, button);
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}
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@Override
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public void telemetry() {
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engine.telemetry.addData("speed", speed);
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}
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}
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@@ -1,85 +1,79 @@
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package org.timecrafters.minibots.cyberarm.states;
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import org.cyberarm.engine.V2.CyberarmState;
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import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
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public class pickle_teleop_state extends CyberarmState {
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private final pickle_minibot_general robot;
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public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
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@Override
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public void exec() {
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double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
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dDrivePowerY = engine.gamepad1.left_stick_y;
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dDrivePowerX = engine.gamepad1.left_stick_x;
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dRotatePowerY = engine.gamepad1.right_stick_y;
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dRotatePowerX = engine.gamepad1.right_stick_x;
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if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
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robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
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robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
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robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
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robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
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}
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else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
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robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
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robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
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robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
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robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
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}
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else {
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robot.pLeftFront.setPower(0);
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robot.pRightFront.setPower(0);
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robot.pRightBack.setPower(0);
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robot.pLeftBack.setPower(0);
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}
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if (engine.gamepad1.dpad_up){
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robot.pServoArch.setPower(1);
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}
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else if (engine.gamepad1.dpad_down){
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robot.pServoArch.setPower(-1);
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}
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else {
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robot.pServoArch.setPower(0);
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}
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if (engine.gamepad1.left_bumper){
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robot.pServoCarousel.setPower(1);
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}
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else if (engine.gamepad1.right_bumper) {
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robot.pServoCarousel.setPower(-1);
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}
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else {
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robot.pServoCarousel.setPower(0);
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}
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if (engine.gamepad1.dpad_left){
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robot.pServoElevate.setPower(1);
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}else if (engine.gamepad1.dpad_right){
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robot.pServoElevate.setPower(-1);
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} else {
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robot.pServoElevate.setPower(0);
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}
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if (engine.gamepad1.left_trigger>.1){
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robot.pServoRotate.setPosition(.7);// full down
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}
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else if (engine.gamepad1.right_trigger>.1){
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robot.pServoRotate.setPosition(0);//full up
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}if (engine.gamepad1.a){
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robot.pServoGrab.setPosition(1);
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}else if (engine.gamepad1.b){
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robot.pServoGrab.setPosition(0);
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}
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}
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@Override
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public void exac() {
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}
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}
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package org.timecrafters.minibots.cyberarm.states;
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import org.cyberarm.engine.V2.CyberarmState;
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import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
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public class pickle_teleop_state extends CyberarmState {
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private final pickle_minibot_general robot;
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public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
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@Override
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public void exec() {
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double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
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dDrivePowerY = engine.gamepad1.left_stick_y;
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dDrivePowerX = engine.gamepad1.left_stick_x;
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dRotatePowerY = engine.gamepad1.right_stick_y;
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dRotatePowerX = engine.gamepad1.right_stick_x;
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if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
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robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
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robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
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robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
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robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
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}
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else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
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robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
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robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
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robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
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robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
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}
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else {
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robot.pLeftFront.setPower(0);
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robot.pRightFront.setPower(0);
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robot.pRightBack.setPower(0);
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robot.pLeftBack.setPower(0);
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}
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if (engine.gamepad1.dpad_up){
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robot.pServoArch.setPower(1);
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}
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else if (engine.gamepad1.dpad_down){
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robot.pServoArch.setPower(-1);
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}
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else {
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robot.pServoArch.setPower(0);
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}
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if (engine.gamepad1.left_bumper){
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robot.pServoCarousel.setPower(1);
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}
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else if (engine.gamepad1.right_bumper) {
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robot.pServoCarousel.setPower(-1);
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}
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else {
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robot.pServoCarousel.setPower(0);
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}
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if (engine.gamepad1.dpad_left){
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robot.pServoElevate.setPower(1);
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}else if (engine.gamepad1.dpad_right){
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robot.pServoElevate.setPower(-1);
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} else {
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robot.pServoElevate.setPower(0);
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}
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if (engine.gamepad1.left_trigger>.1){
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robot.pServoRotate.setPosition(.7);// full down
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}
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else if (engine.gamepad1.right_trigger>.1){
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robot.pServoRotate.setPosition(0);//full up
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}if (engine.gamepad1.a){
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robot.pServoGrab.setPosition(1);
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}else if (engine.gamepad1.b){
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robot.pServoGrab.setPosition(0);
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}
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}
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}
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