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vexy working

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This commit is contained in:
scottbadger777
2022-03-10 20:18:34 -06:00
parent e9fdbee3f6
commit cf0526acae
5 changed files with 120 additions and 45 deletions
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12
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/pickle_engine.java
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@@ -3,19 +3,17 @@ package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.pickle_minibot;
import org.timecrafters.minibots.cyberarm.states.pickle_telescope_state;
import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
import org.timecrafters.minibots.cyberarm.states.pickle_teleop_state;
@TeleOp (name = "pickle_minibot teleop", group = "minibot")
public class pickle_engine extends CyberarmEngine {
pickle_minibot robot;
pickle_minibot_general robot;
@Override
public void setup (){
robot = new pickle_minibot(this);
addState(new pickle_telescope_state(robot));
robot = new pickle_minibot_general(this);
addState(new pickle_teleop_state(robot));
}
}

17
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot.java
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@@ -1,17 +0,0 @@
package org.timecrafters.minibots.cyberarm;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmEngine;
public class pickle_minibot {
private CyberarmEngine engine;
public DcMotor pLeftFront;
public pickle_minibot (CyberarmEngine engine){
this.engine=engine;
pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft");
}
}

30
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/pickle_minibot_general.java Normal file
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@@ -0,0 +1,30 @@
package org.timecrafters.minibots.cyberarm;
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 pickle_minibot_general {
private CyberarmEngine engine;
public DcMotor pLeftFront, pRightFront;
public DcMotor pLeftBack, pRightBack;
public CRServo pServoArch, pServoCarousel, pServoElevate;
public Servo pServoRotate, pServoGrab;
public pickle_minibot_general(CyberarmEngine engine){
this.engine=engine;
pLeftFront = engine.hardwareMap.dcMotor.get("frontLeft");
pRightFront = engine.hardwareMap.dcMotor.get("frontRight");
pLeftBack = engine.hardwareMap.dcMotor.get("backLeft");
pRightBack = engine.hardwareMap.dcMotor.get("backRight");
pServoArch = engine.hardwareMap.crservo.get("arch");//dpad up and down
pServoCarousel = engine.hardwareMap.crservo.get("carousel");// bumper
pServoElevate = engine.hardwareMap.crservo.get("elevate");// left and right dpad
pServoRotate = engine.hardwareMap.servo.get("rotate"); // triggers >:(
pServoGrab = engine.hardwareMap.servo.get("grab");
}
}

85
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_teleop_state.java Normal file
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@@ -0,0 +1,85 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
public class pickle_teleop_state extends CyberarmState {
private final pickle_minibot_general robot;
public pickle_teleop_state(pickle_minibot_general robot){this.robot = robot;}
@Override
public void exec() {
double dDrivePowerY, dDrivePowerX, dRotatePowerX, dRotatePowerY;
dDrivePowerY = engine.gamepad1.left_stick_y;
dDrivePowerX = engine.gamepad1.left_stick_x;
dRotatePowerY = engine.gamepad1.right_stick_y;
dRotatePowerX = engine.gamepad1.right_stick_x;
if (dDrivePowerY > .1 || dDrivePowerY < -.1 || dDrivePowerX > .1 || dDrivePowerX < -.1) {
robot.pLeftFront.setPower(dDrivePowerY + dDrivePowerX);
robot.pRightFront.setPower(dDrivePowerY - dDrivePowerX);
robot.pRightBack.setPower(dDrivePowerY + dDrivePowerX);
robot.pLeftBack.setPower(dDrivePowerY - dDrivePowerX);
}
else if ( dRotatePowerY > .1 || dRotatePowerY < -.1 || dRotatePowerX > .1 || dRotatePowerX < -.1){
robot.pLeftFront.setPower(dRotatePowerY + dRotatePowerX);
robot.pRightFront.setPower(-dRotatePowerY - dRotatePowerX);
robot.pRightBack.setPower(-dRotatePowerY - dRotatePowerX);
robot.pLeftBack.setPower(dRotatePowerY + dRotatePowerX);
}
else {
robot.pLeftFront.setPower(0);
robot.pRightFront.setPower(0);
robot.pRightBack.setPower(0);
robot.pLeftBack.setPower(0);
}
if (engine.gamepad1.dpad_up){
robot.pServoArch.setPower(1);
}
else if (engine.gamepad1.dpad_down){
robot.pServoArch.setPower(-1);
}
else {
robot.pServoArch.setPower(0);
}
if (engine.gamepad1.left_bumper){
robot.pServoCarousel.setPower(1);
}
else if (engine.gamepad1.right_bumper) {
robot.pServoCarousel.setPower(-1);
}
else {
robot.pServoCarousel.setPower(0);
}
if (engine.gamepad1.dpad_left){
robot.pServoElevate.setPower(1);
}else if (engine.gamepad1.dpad_right){
robot.pServoElevate.setPower(-1);
} else {
robot.pServoElevate.setPower(0);
}
if (engine.gamepad1.left_trigger>.1){
robot.pServoRotate.setPosition(.7);// full down
}
else if (engine.gamepad1.right_trigger>.1){
robot.pServoRotate.setPosition(0);//full up
}if (engine.gamepad1.a){
robot.pServoGrab.setPosition(1);
}else if (engine.gamepad1.b){
robot.pServoGrab.setPosition(0);
}
}
@Override
public void exac() {
}
}

21
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/pickle_telescope_state.java
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@@ -1,21 +0,0 @@
package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.pickle_minibot;
public class pickle_telescope_state extends CyberarmState {
private final pickle_minibot robot;
public pickle_telescope_state(pickle_minibot robot){this.robot = robot;}
@Override
public void exec() {
robot.pLeftFront.setPower(1);
}
@Override
public void exac() {
}
}