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When I pulled there was an error in this PhoenixWingEngine so i fixed it

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This commit is contained in:
SpencerPiha
2022-10-21 14:23:02 -05:00
parent 32dc029ac5
commit c627e37073
5 changed files with 39 additions and 11 deletions
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24
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/TestAutonomousEngine.java Normal file
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@@ -0,0 +1,24 @@
package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.LowerArm;
import org.timecrafters.Autonomous.States.UpperArm;
import org.timecrafters.testing.states.PrototypeBot1;
@Autonomous (name = "Autonomous Test")
public class TestAutonomousEngine extends CyberarmEngine {
PrototypeBot1 robot;
@Override
public void setup() {
robot = new PrototypeBot1(this);
addState(new UpperArm(robot, "TestAutonomous", "01-0"));
addState(new LowerArm(robot, "TestAutonomous", "02-0"));
}
}

10
TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
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@@ -6,7 +6,7 @@ import org.timecrafters.testing.states.PrototypeBot1;
public class LowerArm extends CyberarmState { public class LowerArm extends CyberarmState {
PrototypeBot1 robot; PrototypeBot1 robot;
double LowerRiserRightPos, LowerRiserLeftPos; double LowerRiserRightPos, LowerRiserLeftPos, AddedDistance;
long time; long time;
long lastStepTime = 0; long lastStepTime = 0;
@@ -15,6 +15,8 @@ public class LowerArm extends CyberarmState {
this.LowerRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value(); this.LowerRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
this.LowerRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value(); this.LowerRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value(); this.time = robot.configuration.variable(groupName, actionName, "time").value();
this.AddedDistance = robot.configuration.variable(groupName, actionName, "AddedDistance").value();
} }
@Override @Override
@@ -22,10 +24,8 @@ public class LowerArm extends CyberarmState {
if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos) { if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos) {
if (System.currentTimeMillis() - lastStepTime >= time) { if (System.currentTimeMillis() - lastStepTime >= time) {
lastStepTime = System.currentTimeMillis(); lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - LowerRiserLeftPos); robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - AddedDistance);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - LowerRiserRightPos); robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - AddedDistance);
} }
} }
} }

10
TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
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@@ -6,7 +6,7 @@ import org.timecrafters.testing.states.PrototypeBot1;
public class UpperArm extends CyberarmState { public class UpperArm extends CyberarmState {
PrototypeBot1 robot; PrototypeBot1 robot;
double UpperRiserRightPos, UpperRiserLeftPos; double UpperRiserRightPos, UpperRiserLeftPos, AddedDistance;
long time; long time;
long lastStepTime = 0; long lastStepTime = 0;
@@ -15,6 +15,7 @@ public class UpperArm extends CyberarmState {
this.UpperRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value(); this.UpperRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
this.UpperRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value(); this.UpperRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value(); this.time = robot.configuration.variable(groupName, actionName, "time").value();
this.AddedDistance = robot.configuration.variable(groupName, actionName, "AddedDistance").value();
} }
@Override @Override
@@ -22,9 +23,10 @@ public class UpperArm extends CyberarmState {
if (robot.HighRiserLeft.getPosition() > UpperRiserLeftPos) { if (robot.HighRiserLeft.getPosition() > UpperRiserLeftPos) {
if (System.currentTimeMillis() - lastStepTime >= time) { if (System.currentTimeMillis() - lastStepTime >= time) {
lastStepTime = System.currentTimeMillis(); lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - UpperRiserLeftPos); robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - AddedDistance);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - UpperRiserRightPos); robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - AddedDistance);
} else {
setHasFinished(true);
} }
} }

4
TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java
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@@ -25,3 +25,7 @@ public class PhoenixWingEngine {
setupRobot(); setupRobot();
} }
private void setupRobot() {
}
}

2
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -58,8 +58,6 @@ public class PrototypeBot1 {
// Collector // Collector
collectorLeft = engine.hardwareMap.crservo.get("Collector Left"); collectorLeft = engine.hardwareMap.crservo.get("Collector Left");
collectorRight = engine.hardwareMap.crservo.get("Collector Right"); collectorRight = engine.hardwareMap.crservo.get("Collector Right");
collectorLeft.setDirection(CRServo.Direction.REVERSE);
collectorRight.setDirection(CRServo.Direction.FORWARD);
// Arm // Arm
LowRiserLeft = engine.hardwareMap.servo.get("LowRiserLeft"); LowRiserLeft = engine.hardwareMap.servo.get("LowRiserLeft");