mirror of
https://github.com/TimeCrafters/FTC_2022
synced 2025-12-15 14:22:34 +00:00
Automated Drive
This commit is contained in:
SpencerPiha
@@ -1,11 +1,14 @@
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package org.timecrafters.testing.states;
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import com.qualcomm.hardware.bosch.BNO055IMU;
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import com.qualcomm.robotcore.hardware.CRServo;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorSimple;
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import com.qualcomm.robotcore.hardware.Servo;
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import org.cyberarm.engine.V2.CyberarmEngine;
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import org.firstinspires.ftc.robotcore.external.navigation.Position;
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import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
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public class PrototypeBot1 {
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@@ -16,6 +19,8 @@ public class PrototypeBot1 {
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public CRServo collectorLeft, collectorRight;
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public BNO055IMU imu;
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// public Servo collectorWrist;
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public PrototypeBot1(CyberarmEngine engine) {
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@@ -25,12 +30,25 @@ public class PrototypeBot1 {
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}
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private void setupRobot () {
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BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
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parameters.mode = BNO055IMU.SensorMode.IMU;
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parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
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parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
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parameters.loggingEnabled = false;
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this.imu = engine.hardwareMap.get(BNO055IMU.class,"imu");
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imu.initialize(parameters);
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imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
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//motors configuration
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frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");
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frontRightDrive = engine.hardwareMap.dcMotor.get("Front Right");
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backRightDrive = engine.hardwareMap.dcMotor.get("Back Left");
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backLeftDrive = engine.hardwareMap.dcMotor.get("Back Right");
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backRightDrive = engine.hardwareMap.dcMotor.get("Back Right");
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backLeftDrive = engine.hardwareMap.dcMotor.get("Back Left");
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// servo configuration
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@@ -46,16 +64,16 @@ public class PrototypeBot1 {
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//motors direction and encoders
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frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
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frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
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frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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frontRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
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frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
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frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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backLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
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backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
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backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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backRightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
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backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
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backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
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}
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@@ -2,14 +2,10 @@ package org.timecrafters.testing.states;
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import android.annotation.SuppressLint;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.Servo;
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import org.cyberarm.engine.V2.CyberarmState;
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import java.lang.annotation.Target;
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import java.util.Objects;
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public class PrototypeTeleOPState extends CyberarmState {
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private final PrototypeBot1 robot;
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@@ -27,7 +23,8 @@ public class PrototypeTeleOPState extends CyberarmState {
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private double speed = 1; // used for the normal speed while driving
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private double slowSpeed = 0.5; // used for slow mode speed while driving
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private int CyclingArmUpAndDown = 0;
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private int DriveFowardAndBack;
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private int DriveForwardAndBack;
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private int RobotPosition, RobotStartingPosition;
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public PrototypeTeleOPState(PrototypeBot1 robot) {
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this.robot = robot;
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@@ -94,26 +91,25 @@ public class PrototypeTeleOPState extends CyberarmState {
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// bprev = false;
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// }
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//Drivetrain Variables
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double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
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double x = engine.gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
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double rx = engine.gamepad1.left_stick_x;
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// Denominator is the largest motor power (absolute value) or 1
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// This ensures all the powers maintain the same ratio, but only when
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// at least one is out of the range [-1, 1]
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double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
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double frontLeftPower = (y + x + rx) / denominator;
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double backLeftPower = (y - x + rx) / denominator;
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double frontRightPower = (y - x - rx) / denominator;
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double backRightPower = (y + x - rx) / denominator;
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robot.frontLeftDrive.setPower(-frontLeftPower * speed);
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robot.backLeftDrive.setPower(backLeftPower * speed);
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robot.frontRightDrive.setPower(-frontRightPower * speed);
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robot.backRightDrive.setPower(backRightPower * speed);
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// //Drivetrain Variables
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// double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
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// double x = engine.gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
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// double rx = engine.gamepad1.left_stick_x;
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//
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// // Denominator is the largest motor power (absolute value) or 1
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// // This ensures all the powers maintain the same ratio, but only when
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// // at least one is out of the range [-1, 1]
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//
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// double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
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// double frontLeftPower = (y + x + rx) / denominator;
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// double backLeftPower = (y - x + rx) / denominator;
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// double frontRightPower = (y - x - rx) / denominator;
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// double backRightPower = (y + x - rx) / denominator;
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//
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// robot.frontLeftDrive.setPower(-frontLeftPower * speed);
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// robot.backLeftDrive.setPower(backLeftPower * speed);
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// robot.frontRightDrive.setPower(-frontRightPower * speed);
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// robot.backRightDrive.setPower(backRightPower * speed);
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if (engine.gamepad2.y) {
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@@ -232,39 +228,61 @@ public class PrototypeTeleOPState extends CyberarmState {
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// }
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// }
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// SPENCER____________________________________________________________________
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// if (engine.gamepad1.start){
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//
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// switch (DriveFowardAndBack) {
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//
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// // Drive Foward
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// case 0:
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// if (robot.backLeftDrive.getCurrentPosition() == 0) {
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// robot.backLeftDrive.setTargetPosition(4000);
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// robot.backRightDrive.setTargetPosition(4000);
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// robot.frontLeftDrive.setTargetPosition(4000);
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// robot.backRightDrive.setTargetPosition(4000);
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// robot.backLeftDrive.setPower(1);
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// robot.backRightDrive.setPower(1);
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// robot.frontLeftDrive.setPower(1);
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// robot.backRightDrive.setPower(1);
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//
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// }
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// } else {
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//
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// }
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// }
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// break;
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//
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// // lower arm up
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// case 1:
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// if (robot.LowRiserLeft.getPosition() < 1) {
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// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
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// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
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// } else {
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// CyclingArmUpAndDown = CyclingArmUpAndDown +1;
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// }
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// break;
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if (engine.gamepad1.start) {
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RobotPosition = robot.backRightDrive.getCurrentPosition();
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switch (DriveForwardAndBack) {
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case 0:
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RobotStartingPosition = RobotPosition;
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drivePower = 1;
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DriveForwardAndBack += 1;
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break;
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case 1:
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if (RobotPosition - RobotStartingPosition < 6250){
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(drivePower);
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} else
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{
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DriveForwardAndBack += 1;
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drivePower = -1;
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}
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break;
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case 2:
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if (RobotPosition - RobotStartingPosition >= 0) {
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(drivePower);
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} else
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{
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DriveForwardAndBack += 1;
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}
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break;
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case 3:
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robot.backLeftDrive.setPower(0);
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robot.backRightDrive.setPower(0);
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robot.frontLeftDrive.setPower(0);
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robot.frontRightDrive.setPower(0);
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DriveForwardAndBack = 1;
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drivePower = 1;
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break;
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} // switch ending
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} // if gamepad 1 start ending
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else {
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robot.backLeftDrive.setPower(0);
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robot.backRightDrive.setPower(0);
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robot.frontLeftDrive.setPower(0);
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robot.frontRightDrive.setPower(0);
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}
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if (engine.gamepad2.start){
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