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LeftSideAutonomous has drive backward and forward states after rotating towards both of the junctions for allignment. and it is organized

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This commit is contained in:
SpencerPiha
2022-11-07 19:35:57 -06:00
parent 2da92450b5
commit d21441eec5
1 changed files with 19 additions and 19 deletions
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38
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
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@@ -31,7 +31,7 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
addState(new TopArm(robot, "LeftSideAutonomous", "03-0")); addState(new TopArm(robot, "LeftSideAutonomous", "03-0"));
//lift the lower arm //lift the lower arm
addState(new BottomArm(robot, "LeftSideAutonomous", "04-0")); addState(new BottomArm(robot, "LeftSideAutonomous", "04-0"));
//drive forward //drive forward to junction
addState(new DriverState(robot, "LeftSideAutonomous", "05-0")); addState(new DriverState(robot, "LeftSideAutonomous", "05-0"));
//lower the bottom arm to get closer //lower the bottom arm to get closer
addState(new TopArm(robot, "LeftSideAutonomous", "06-0")); addState(new TopArm(robot, "LeftSideAutonomous", "06-0"));
@@ -39,14 +39,14 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
addState(new CollectorState(robot, "LeftSideAutonomous", "07-0")); addState(new CollectorState(robot, "LeftSideAutonomous", "07-0"));
//lift the lower arm to clear the pole //lift the lower arm to clear the pole
addState(new TopArm(robot, "LeftSideAutonomous", "08-0")); addState(new TopArm(robot, "LeftSideAutonomous", "08-0"));
//Drive Backwards //Drive Backwards away from junction
addState(new DriverState(robot, "LeftSideAutonomous", "09-0")); addState(new DriverState(robot, "LeftSideAutonomous", "09-0"));
// Rotate to either set up for cones to grab or park somewhere // Rotate to either set up for cones to grab or park somewhere
addState(new RotationState(robot, "LeftSideAutonomous", "12-0")); addState(new RotationState(robot, "LeftSideAutonomous", "10-0"));
// lower the bottom arm so we dont fall over // lower the bottom arm so we dont fall over
addState(new BottomArm(robot, "LeftSideAutonomous", "10-0")); addState(new BottomArm(robot, "LeftSideAutonomous", "11-0"));
// lower the upper arm so we dont fall over // lower the upper arm so we dont fall over
addState(new TopArm(robot, "LeftSideAutonomous", "11-0"));; addState(new TopArm(robot, "LeftSideAutonomous", "12-0"));;
//adjust arm height to cone. //adjust arm height to cone.
addState(new TopArm(robot, "LeftSideAutonomous", "13-0")); addState(new TopArm(robot, "LeftSideAutonomous", "13-0"));
//drive towards stack of cones while collecting //drive towards stack of cones while collecting
@@ -59,32 +59,32 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
addState(new TopArm(robot, "LeftSideAutonomous", "16-0")); addState(new TopArm(robot, "LeftSideAutonomous", "16-0"));
// drive backwards too position // drive backwards too position
addState(new DriverState(robot, "LeftSideAutonomous", "17-0")); addState(new DriverState(robot, "LeftSideAutonomous", "17-0"));
// rotate // face low junction
addState(new RotationState(robot, "LeftSideAutonomous", "18-0")); addState(new RotationState(robot, "LeftSideAutonomous", "18-0"));
// drive up to junction
addState(new DriverState(robot, "LeftSideAutonomous", "21-0")); addState(new DriverState(robot, "LeftSideAutonomous", "19-0"));
// bring arm down. // bring arm down.
addState(new TopArm(robot, "LeftSideAutonomous", "22-0")); addState(new TopArm(robot, "LeftSideAutonomous", "20-0"));
// get rid of cone // get rid of cone
addState(new CollectorState(robot, "LeftSideAutonomous", "23-0")); addState(new CollectorState(robot, "LeftSideAutonomous", "21-0"));
// lift arm up to clear // lift arm up to clear
addState(new TopArm(robot, "LeftSideAutonomous", "24-0")); addState(new TopArm(robot, "LeftSideAutonomous", "22-0"));
// rotate towards stack of cones // rotate towards stack of cones
addState(new RotationState(robot, "LeftSideAutonomous", "28-0")); addState(new RotationState(robot, "LeftSideAutonomous", "23-0"));
// Choose Parking Spot // Choose Parking Spot
addState(new PathDecision(robot, "LeftSideAutonomous", "29-0")); addState(new PathDecision(robot, "LeftSideAutonomous", "24-0"));
// case 1 drive forward // case 1 drive forward
addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "29-1")); addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "24-1"));
// case 2 drive forward // case 2 drive forward
addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "29-2")); addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "24-2"));
// case 3 drive forward // case 3 drive forward
addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "29-3")); addState(new DriverParkPlaceState(robot, "LeftSideAutonomous", "24-3"));
// zero out // zero out
addState(new RotationState(robot, "LeftSideAutonomous", "30-0")); addState(new RotationState(robot, "LeftSideAutonomous", "25-0"));
// Top Arm Down // Top Arm Down
addState(new TopArm(robot, "LeftSideAutonomous", "28-1")); addState(new TopArm(robot, "LeftSideAutonomous", "25-1"));
//Drive Backwards //Drive Backwards
addState(new DriverState(robot, "LeftSideAutonomous", "30-1")); addState(new DriverState(robot, "LeftSideAutonomous", "26-0"));
} }
@Override @Override