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Tested and refactored blackboard

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Cyberarm
2022-12-31 12:56:21 -06:00
parent 0250394f56
commit c0ace898af
8 changed files with 119 additions and 22 deletions
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76
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/TasksEngine.java Normal file
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package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.CyberarmState;
@TeleOp(name = "TasksEngine", group = "testing")
public class TasksEngine extends CyberarmEngine {
@Override
public void setup() {
addTask(new CyberarmState() {
@Override
public void init() {
engine.blackboardSet("counter", 0);
engine.blackboardSet("string", "I IS STRING");
engine.blackboardSet("boolean", true);
}
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 1", engine.blackboardGetInt("counter"));
engine.telemetry.addData("TASK 1", "I am a task!");
}
});
addTask(new CyberarmState() {
int lastCount = 0, blackboardLastCount = 0;
int count = 0;
double lastRuntime = 0;
@Override
public void exec() {
if (runTime() - lastRuntime >= 1000.0) {
lastRuntime = runTime();
lastCount = count;
blackboardLastCount = engine.blackboardGetInt("counter");
}
engine.blackboardSet("counter", engine.blackboardGetInt("counter") + 1);
count++;
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string"));
engine.telemetry.addData("TASK 2", engine.blackboardGetBoolean("boolean"));
engine.telemetry.addData("TASK 2", engine.blackboardGetInt("counter") - blackboardLastCount);
engine.telemetry.addData("TASK 2", count - lastCount);
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string_NULL") == null);
}
});
addState(new CyberarmState() {
@Override
public void exec() {
if (runTime() >= 10_000) {
setHasFinished(true);
}
}
});
addParallelStateToLastState(new CyberarmState() {
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("Parallel state 1", "Hello There");
}
});
}
}