TimeCrafters/FTC_2022
1
0
Fork 0
mirror of https://github.com/TimeCrafters/FTC_2022 synced 2025-12-16 04:12:34 +00:00
Code Issues Packages Projects Releases Wiki Activity

Removed invalid CyberarmState#exac

Browse Source
This commit is contained in:
Cyberarm
2022-08-16 09:37:43 -05:00
parent 4324df96c8
commit 8b9a817525
3 changed files with 191 additions and 204 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
View File

@@ -232,6 +232,4 @@ public abstract class CyberarmState implements Runnable {
public String progressBar(int width, double percentCompleted) { public String progressBar(int width, double percentCompleted) {
return progressBar(width, percentCompleted, "=", " "); return progressBar(width, percentCompleted, "=", " ");
} }
public abstract void exac();
} }

229
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
View File

@@ -1,117 +1,112 @@
package org.timecrafters.minibots.cyberarm.states; package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.MecanumMinibot; import org.timecrafters.minibots.cyberarm.MecanumMinibot;
public class MecanumMinibotTeleOpState extends CyberarmState { public class MecanumMinibotTeleOpState extends CyberarmState {
private final MecanumMinibot robot; private final MecanumMinibot robot;
private float speed; private float speed;
public MecanumMinibotTeleOpState(MecanumMinibot robot) { public MecanumMinibotTeleOpState(MecanumMinibot robot) {
this.robot = robot; this.robot = robot;
} }
@Override @Override
public void exec() { public void exec() {
/* ............................................................................ drive */ /* ............................................................................ drive */
speed = 1.0f - engine.gamepad1.left_trigger; speed = 1.0f - engine.gamepad1.left_trigger;
if (engine.gamepad1.y) { if (engine.gamepad1.y) {
robot.driveAll(speed); robot.driveAll(speed);
} else if (engine.gamepad1.a) { } else if (engine.gamepad1.a) {
robot.driveAll(-speed); robot.driveAll(-speed);
} else if (engine.gamepad1.x) { } else if (engine.gamepad1.x) {
robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed); robot.driveStrafe(MecanumMinibot.STRAFE_LEFT, speed);
} else if (engine.gamepad1.b) { } else if (engine.gamepad1.b) {
robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed); robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
} else if (engine.gamepad1.left_bumper) { } else if (engine.gamepad1.left_bumper) {
robot.driveTurn(MecanumMinibot.TURN_LEFT, speed); robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
} else if (engine.gamepad1.right_bumper) { } else if (engine.gamepad1.right_bumper) {
robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed); robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
} else { } else {
robot.driveStop(); robot.driveStop();
} }
/* ............................................................................ elevator */ /* ............................................................................ elevator */
if(engine.gamepad1.dpad_up || if(engine.gamepad1.dpad_up ||
engine.gamepad2.y){ engine.gamepad2.y){
robot.pServoElevate.setPower(1.0); robot.pServoElevate.setPower(1.0);
} }
else if(engine.gamepad1.dpad_down || else if(engine.gamepad1.dpad_down ||
engine.gamepad2.a){ engine.gamepad2.a){
robot.pServoElevate.setPower(-1.0); robot.pServoElevate.setPower(-1.0);
} }
else{ else{
robot.pServoElevate.setPower((0.0)); robot.pServoElevate.setPower((0.0));
} }
/* ............................................................................ arch */ /* ............................................................................ arch */
if(Math.abs(engine.gamepad1.left_stick_y)>0.1 || if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
Math.abs(engine.gamepad2.left_stick_y)>0.1){ Math.abs(engine.gamepad2.left_stick_y)>0.1){
robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y); robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
} }
else{ else{
robot.pServoArch.setPower((0.0)); robot.pServoArch.setPower((0.0));
} }
/* ............................................................................ rotate */ /* ............................................................................ rotate */
if(engine.gamepad1.dpad_right || if(engine.gamepad1.dpad_right ||
engine.gamepad2.dpad_right){ // up position engine.gamepad2.dpad_right){ // up position
robot.pServoRotate.setPosition(0.0); robot.pServoRotate.setPosition(0.0);
} }
if(engine.gamepad1.dpad_left || if(engine.gamepad1.dpad_left ||
engine.gamepad2.dpad_left){ // down position engine.gamepad2.dpad_left){ // down position
robot.pServoRotate.setPosition(0.70); robot.pServoRotate.setPosition(0.70);
} }
/* ............................................................................ grab */ /* ............................................................................ grab */
if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 || if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
engine.gamepad2.x){ // in engine.gamepad2.x){ // in
robot.pServoGrab.setPosition(0.9); robot.pServoGrab.setPosition(0.9);
} }
if(engine.gamepad1.back || if(engine.gamepad1.back ||
engine.gamepad2.back){ // small out engine.gamepad2.back){ // small out
robot.pServoGrab.setPosition(0.50); robot.pServoGrab.setPosition(0.50);
} }
if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 || if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
engine.gamepad2.b){ // big out engine.gamepad2.b){ // big out
robot.pServoGrab.setPosition(0.0); robot.pServoGrab.setPosition(0.0);
} }
/* ............................................................................ carousel */ /* ............................................................................ carousel */
if(Math.abs(engine.gamepad1.left_trigger)>0.1){ if(Math.abs(engine.gamepad1.left_trigger)>0.1){
robot.pServoCarousel.setPower(engine.gamepad1.left_trigger); robot.pServoCarousel.setPower(engine.gamepad1.left_trigger);
} }
else if(Math.abs(engine.gamepad1.right_trigger)>0.1){ else if(Math.abs(engine.gamepad1.right_trigger)>0.1){
robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger); robot.pServoCarousel.setPower(-engine.gamepad1.right_trigger);
} }
else{ else{
robot.pServoCarousel.setPower((0.0)); robot.pServoCarousel.setPower((0.0));
} }
} }
@Override @Override
public void buttonDown(Gamepad gamepad, String button) { public void buttonDown(Gamepad gamepad, String button) {
super.buttonDown(gamepad, button); super.buttonDown(gamepad, button);
} }
@Override @Override
public void buttonUp(Gamepad gamepad, String button) { public void buttonUp(Gamepad gamepad, String button) {
super.buttonUp(gamepad, button); super.buttonUp(gamepad, button);
} }
@Override @Override
public void exac() { public void telemetry() {
engine.telemetry.addData("speed", speed);
} }
}
@Override
public void telemetry() {
engine.telemetry.addData("speed", speed);
}
}

164
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java
View File

@@ -1,85 +1,79 @@
package org.timecrafters.minibots.cyberarm.states; package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.pickle_minibot_general; import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
public class pickle_teleop_state extends CyberarmState { public class pickle_teleop_state extends CyberarmState {
private final pickle_minibot_general robot; private final pickle_minibot_general robot;
public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;} public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
@Override @Override
public void exec() { public void exec() {
double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY; double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
dDrivePowerY = engine.gamepad1.left_stick_y; dDrivePowerY = engine.gamepad1.left_stick_y;
dDrivePowerX = engine.gamepad1.left_stick_x; dDrivePowerX = engine.gamepad1.left_stick_x;
dRotatePowerY = engine.gamepad1.right_stick_y; dRotatePowerY = engine.gamepad1.right_stick_y;
dRotatePowerX = engine.gamepad1.right_stick_x; dRotatePowerX = engine.gamepad1.right_stick_x;
if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) { if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX); robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX); robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX); robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX); robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
} }
else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){ else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX); robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX); robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX); robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX); robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
} }
else { else {
robot.pLeftFront.setPower(0); robot.pLeftFront.setPower(0);
robot.pRightFront.setPower(0); robot.pRightFront.setPower(0);
robot.pRightBack.setPower(0); robot.pRightBack.setPower(0);
robot.pLeftBack.setPower(0); robot.pLeftBack.setPower(0);
} }
if (engine.gamepad1.dpad_up){ if (engine.gamepad1.dpad_up){
robot.pServoArch.setPower(1); robot.pServoArch.setPower(1);
} }
else if (engine.gamepad1.dpad_down){ else if (engine.gamepad1.dpad_down){
robot.pServoArch.setPower(-1); robot.pServoArch.setPower(-1);
} }
else { else {
robot.pServoArch.setPower(0); robot.pServoArch.setPower(0);
} }
if (engine.gamepad1.left_bumper){ if (engine.gamepad1.left_bumper){
robot.pServoCarousel.setPower(1); robot.pServoCarousel.setPower(1);
} }
else if (engine.gamepad1.right_bumper) { else if (engine.gamepad1.right_bumper) {
robot.pServoCarousel.setPower(-1); robot.pServoCarousel.setPower(-1);
} }
else { else {
robot.pServoCarousel.setPower(0); robot.pServoCarousel.setPower(0);
} }
if (engine.gamepad1.dpad_left){ if (engine.gamepad1.dpad_left){
robot.pServoElevate.setPower(1); robot.pServoElevate.setPower(1);
}else if (engine.gamepad1.dpad_right){ }else if (engine.gamepad1.dpad_right){
robot.pServoElevate.setPower(-1); robot.pServoElevate.setPower(-1);
} else { } else {
robot.pServoElevate.setPower(0); robot.pServoElevate.setPower(0);
} }
if (engine.gamepad1.left_trigger>.1){ if (engine.gamepad1.left_trigger>.1){
robot.pServoRotate.setPosition(.7);// full down robot.pServoRotate.setPosition(.7);// full down
} }
else if (engine.gamepad1.right_trigger>.1){ else if (engine.gamepad1.right_trigger>.1){
robot.pServoRotate.setPosition(0);//full up robot.pServoRotate.setPosition(0);//full up
}if (engine.gamepad1.a){ }if (engine.gamepad1.a){
robot.pServoGrab.setPosition(1); robot.pServoGrab.setPosition(1);
}else if (engine.gamepad1.b){ }else if (engine.gamepad1.b){
robot.pServoGrab.setPosition(0); robot.pServoGrab.setPosition(0);
} }
} }
}
@Override
public void exac() {
}
}