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I completely forgot to commit any of the new stuff I have done. Basically it is just states and engines for my not so mini "minibot" with a couple TeleOp states and engines and a new autonomous drive state and engine. and theres a distance sensor test to give me telemetry on distance from each ball amount when the hopper is filled up or empty or filled with one or two or three balls. which the logic was very in efficient the way i chose to do it and then when implementing caused problems in my standard TeleOp (Fancy Drive TeleOp) and then came up with a better solution. with proper comparisons and now it works amazingly

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This commit is contained in:
SpencerPiha
2022-08-25 19:29:07 -05:00
parent 67b83f3d9a
commit a380321dd1
6 changed files with 138 additions and 23 deletions
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22
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/SlowModeTestEngine.java Normal file
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@@ -0,0 +1,22 @@
package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
import org.timecrafters.minibots.cyberarm.states.SlowModeTestPingPong;
@TeleOp (name = "Slow Mode Test")
public class SlowModeTestEngine extends CyberarmEngine {
MecanumRobot robot;
@Override
public void setup() {
robot = new MecanumRobot(this);
addState(new SlowModeTestPingPong(robot));
}
}

5
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/DemoPingPongState.java
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@@ -85,5 +85,10 @@ public class DemoPingPongState extends CyberarmState {
}
}
@Override
public void exac() {
}
}

5
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/DistanceSensorTest.java
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@@ -136,4 +136,9 @@ public class DistanceSensorTest extends CyberarmState {
engine.telemetry.addData("Amount", ballAmount);
}
@Override
public void exac() {
}
}

53
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/Mecanum_Fancy_Drive_State.java
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@@ -13,19 +13,17 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
public boolean A;
public boolean X;
public boolean Y;
private double drivePower = 1;
private boolean bprev;
public Mecanum_Fancy_Drive_State(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void init() {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
@Override
public void exec() {
@@ -35,16 +33,21 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
X = engine.gamepad1.x;
Y = engine.gamepad1.y;
//Drivetrain Variables
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.right_stick_x;
//Shooter Variables
//Gamepad variables
//toggle for drive speed
boolean b = engine.gamepad1.b;
if (b && !bprev) {
if (drivePower == 1) {
drivePower = 0.5;
} else {
drivePower = 1;
}
}
bprev = b;
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
@@ -61,10 +64,10 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower);
robot.backLeftDrive.setPower(-backLeftPower);
robot.frontRightDrive.setPower(-frontRightPower);
robot.backRightDrive.setPower(-backRightPower);
robot.frontLeftDrive.setPower(-frontLeftPower * drivePower);
robot.backLeftDrive.setPower(-backLeftPower * drivePower);
robot.frontRightDrive.setPower(-frontRightPower * drivePower);
robot.backRightDrive.setPower(-backRightPower * drivePower);
//-----------------------------------------------------------------
// Shooter program
@@ -72,14 +75,10 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
if (A) {
robot.shooterWheel.setPower(1);
robot.collectorRight.setPower(0);
}
if (Y) {
} if (Y) {
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(1);
}
if (X) {
} if (X) {
robot.shooterWheel.setPower(0);
robot.collectorRight.setPower(0);
}
@@ -117,11 +116,11 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
} else if (robot.shooterWheel.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (ballAmount.equals("3 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (ballAmount.equals("2 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE_GREEN);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
} else if (ballAmount.equals("1 balls")) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_2_END_TO_END_BLEND);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
@@ -133,9 +132,17 @@ public class Mecanum_Fancy_Drive_State extends CyberarmState {
@Override
public void telemetry() {
engine.telemetry.addData("Distance", robot.ballPositionSensor.getDistance(DistanceUnit.CM));
engine.telemetry.addData("Amount", ballAmount);
engine.telemetry.addData("Speed", drivePower);
engine.telemetry.addData("FrontLeftEncoder", robot.frontLeftDrive.getCurrentPosition());
engine.telemetry.addData("FrontRightEncoder", robot.frontRightDrive.getCurrentPosition());
engine.telemetry.addData("BackLeftEncoder", robot.backLeftDrive.getCurrentPosition());
engine.telemetry.addData("BackRightEncoder", robot.backRightDrive.getCurrentPosition());
}
@Override
public void exac() {
}
}

5
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/Mecanum_Robot_State.java
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@@ -111,4 +111,9 @@ public class Mecanum_Robot_State extends CyberarmState {
}
}
@Override
public void exac() {
}
}

71
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/SlowModeTestPingPong.java Normal file
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@@ -0,0 +1,71 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class SlowModeTestPingPong extends CyberarmState {
MecanumRobot robot;
private double drivePower = 1;
private boolean bprev;
public SlowModeTestPingPong (MecanumRobot robot){
this.robot = robot;
}
@Override
public void exec() {
//toggle for drive speed
boolean b = engine.gamepad1.b;
if (b && !bprev) {
if (drivePower == 1) {
drivePower = 0.5;
} else {
drivePower = 1;
}
}
bprev = b;
//Drivetrain Variables
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.right_stick_x;
//Gamepad variables
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
// at least one is out of the range [-1, 1]
double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
double frontLeftPower = (y + x + rx) / denominator;
double backLeftPower = (y - x + rx) / denominator;
double frontRightPower = (y - x - rx) / denominator;
double backRightPower = (y + x - rx) / denominator;
// As I programed this and ran it, I realized everything was backwards
// in direction so to fix that i either went in the robot object state and reversed
// directions on drive motors or put a negative in behind the joystick power to reverse it.
// I put negatives in to reverse it because it was the easiest at the moment.
robot.frontLeftDrive.setPower(-frontLeftPower * drivePower);
robot.backLeftDrive.setPower(-backLeftPower * drivePower);
robot.frontRightDrive.setPower(-frontRightPower * drivePower);
robot.backRightDrive.setPower(-backRightPower * drivePower);
//-----------------------------------------------------------------
}
@Override
public void exac() {
}
}