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Adding the autonomous, day 1

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Sodi
2022-10-20 20:02:08 -05:00
parent 7442efa1c9
commit cae56e4e20
5 changed files with 133 additions and 0 deletions
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58
TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java Normal file
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@@ -0,0 +1,58 @@
package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.testing.states.PrototypeBot1;
public class CollectorState extends CyberarmState {
private final PrototypeBot1 robot;
private boolean collecting;
private long duration;
private long BeginningofActionTime;
public CollectorState(PrototypeBot1 robot, String groupName, String actionName) {
this.robot = robot;
this.duration = robot.configuration.variable(groupName, actionName, "Duration").value();
this.collecting = robot.configuration.variable(groupName, actionName, "Collecting").value();
}
@Override
public void telemetry() {
engine.telemetry.addData("High Riser Right Position", robot.HighRiserRight.getPosition());
engine.telemetry.addData("High Riser Left Position", robot.HighRiserLeft.getPosition());
}
@Override
public void start() {
BeginningofActionTime = System.currentTimeMillis();
}
@Override
public void exec() {
if (System.currentTimeMillis() - BeginningofActionTime < duration) {
if (collecting) {
robot.collectorRight.setPower(1);
robot.collectorLeft.setPower(1);
} else {
robot.collectorRight.setPower(-1);
robot.collectorLeft.setPower(-1);
}
} else {
robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0);
setHasFinished(true);
}
}
}

36
TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java Normal file
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package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.testing.states.PrototypeBot1;
public class RotationState extends CyberarmState {
PrototypeBot1 robot;
public RotationState(PrototypeBot1 robot, String groupName, String actionName) {
this.robot = robot;
this.drivePower = robot.configuration.variable(groupName, actionName, "drivePower").value();
// this.RobotRotation = robot.configuration.variable(groupName, actionName, "RobotRotation").value();
}
private float RobotRotation;
private double drivePower;
@Override
public void exec() {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation <= 45) {
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0);
}
}
}

27
TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingEngine.java Normal file
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package org.timecrafters.testing.states;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmEngine;
public class PhoenixWingEngine {
public Servo LowRiserLeft, LowRiserRight, HighRiserLeft, HighRiserRight;
private final CyberarmEngine engine;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive;
public CRServo collectorLeft, collectorRight;
public BNO055IMU imu;
// public Servo collectorWrist;
public PhoenixWingEngine(CyberarmEngine engine) {
this.engine = engine;
setupRobot();
}

10
TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixWingState.java Normal file
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package org.timecrafters.testing.states;
import org.cyberarm.engine.V2.CyberarmState;
public class PhoenixWingState extends CyberarmState {
@Override
public void exec() {
}
}

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