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Adding a faster movement button

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This commit is contained in:
Sodi
2022-11-19 12:01:31 -06:00
parent 6b1abef167
commit b4567a3f17
3 changed files with 96 additions and 5 deletions
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53
TeamCode/src/main/java/org/timecrafters/testing/engine/SpeedrunEngine.java Normal file
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@@ -0,0 +1,53 @@
package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.GamepadChecker;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import org.timecrafters.testing.states.PhoenixBot1;
import org.timecrafters.testing.states.TeleOPSpeedrunState;
@TeleOp (name = "Speedrun Engine")
public class SpeedrunEngine extends CyberarmEngine {
GamepadChecker gamepadChecker;
PhoenixBot1 robot;
@Override
public void setup() {
TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();
robot = new PhoenixBot1(this);
gamepadChecker = new GamepadChecker(this, this.gamepad1);
// setupFromConfig(
// configuration,
// "org.timecrafters.testing.states",
// robot,
// PhoenixBot1.class,
// "SpeedRun"
// );
// addState(new TeleOPSpeedrunState(robot, "SpeedRun", "00-0"));
// addState(new TeleOPSpeedrunState(robot, "SpeedRun", "01-0"));
}
@Override
public void loop() {
super.loop();
gamepadChecker.update();
}
@Override
protected void buttonUp(Gamepad gamepad, String button) {
if (gamepad1 == gamepad) {
if (button.equals("a")) {
addState(new TeleOPSpeedrunState(robot, "SpeedRun", "00-0"));
} else if (button.equals("y")) {
addState(new TeleOPSpeedrunState(robot, "SpeedRun", "01-0"));
}
}
}
}

10
TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java
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@@ -54,13 +54,13 @@ public class PhoenixBot1 {
public PhoenixBot1(CyberarmEngine engine) {
this.engine = engine;
initVuforia();
initTfod();
// initVuforia();
// initTfod();
setupRobot();
}
private void setupRobot () {
collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
// collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
@@ -75,7 +75,7 @@ public class PhoenixBot1 {
imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
configuration = new TimeCraftersConfiguration("Phoenix");
AdafruitEncoder = engine.hardwareMap.AdafruitI2cColorSensor.get("adafruit");
// AdafruitEncoder = engine.hardwareMap.AdafruitI2cColorSensor.get("adafruit");
//motors configuration
frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");
@@ -147,7 +147,7 @@ public class PhoenixBot1 {
// Instantiate the Vuforia engine
vuforia = ClassFactory.getInstance().createVuforia(parameters);
// vuforia = ClassFactory.getInstance().createVuforia(parameters);
}
private void initTfod() {

38
TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPSpeedrunState.java Normal file
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@@ -0,0 +1,38 @@
package org.timecrafters.testing.states;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
public class TeleOPSpeedrunState extends CyberarmState {
PhoenixBot1 robot;
double power;
int distance;
public TeleOPSpeedrunState(PhoenixBot1 robot, String groupName, String actionName) {
this.robot = robot;
TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();
this.power = configuration.variable(groupName, actionName, "Power").value();
this.distance = configuration.variable(groupName, actionName, "Distance").value();
}
@Override
public void start() {
this.robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
this.robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
public void exec() {
robot.backLeftDrive.setPower(power);
robot.backRightDrive.setPower(power);
if (Math.abs(robot.backLeftDrive.getCurrentPosition()) > Math.abs(distance)) {
power = 0;
robot.backLeftDrive.setPower(power);
robot.backRightDrive.setPower(power);
setHasFinished(true);
}
}
}