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Minibot program- day 1

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This commit is contained in:
NerdyBirdy460
2023-03-04 12:35:34 -06:00
parent fbb0645283
commit d59e7a54f7
17 changed files with 121 additions and 19 deletions
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2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
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@@ -14,7 +14,7 @@ import org.timecrafters.Autonomous.States.PathDecision;
import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
//@Autonomous (name = "Left Side")
@Disabled

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftStateAutoEngine.java
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@@ -3,7 +3,7 @@ package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
@Autonomous(name = "Left Side", group = "A Phoenix", preselectTeleOp = "APhoenixTeleOP")
public class LeftStateAutoEngine extends CyberarmEngine {

4
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java
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@@ -1,7 +1,5 @@
package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.BottomArm;
import org.timecrafters.Autonomous.States.CollectorDistanceState;
@@ -15,7 +13,7 @@ import org.timecrafters.Autonomous.States.PathDecision;
import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
//@Autonomous (name = "left 2 cone auto")

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentAngleState.java
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@@ -5,7 +5,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
public class JunctionAllignmentAngleState extends CyberarmState {
private final boolean stateDisabled;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentDistanceState.java
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@@ -2,7 +2,7 @@ package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
public class JunctionAllignmentDistanceState extends CyberarmState {
private final boolean stateDisabled;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java
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@@ -1,7 +1,7 @@
package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.PhoenixBot1;
public class PathDecision extends CyberarmState {
PhoenixBot1 robot;

8
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixTeleOP.java → TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java
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@@ -1,11 +1,11 @@
package org.timecrafters.Autonomous.TeleOp.engine;
package org.timecrafters.TeleOp.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
import org.timecrafters.Autonomous.TeleOp.states.TeleOPTankDriver;
import org.timecrafters.Autonomous.TeleOp.states.TeleOPArmDriver;
import org.timecrafters.TeleOp.states.PhoenixBot1;
import org.timecrafters.TeleOp.states.TeleOPArmDriver;
import org.timecrafters.TeleOp.states.TeleOPTankDriver;
@TeleOp (name = "APhoenixTeleOP")

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixWingEngine.java → TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.engine;
package org.timecrafters.TeleOp.engine;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.CRServo;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserServoHeight.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.robotcore.hardware.Servo;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserState.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixBot1.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import com.qualcomm.hardware.adafruit.AdafruitI2cColorSensor;
import com.qualcomm.hardware.bosch.BNO055IMU;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPState.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import android.annotation.SuppressLint;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPv2.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import org.cyberarm.engine.V2.CyberarmState;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixWingState.java → TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java
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@@ -1,4 +1,4 @@
package org.timecrafters.Autonomous.TeleOp.states;
package org.timecrafters.TeleOp.states;
import org.cyberarm.engine.V2.CyberarmState;

22
TeamCode/src/main/java/org/timecrafters/minibots/engines/Mini2023Engine.java Normal file
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@@ -0,0 +1,22 @@
package org.timecrafters.minibots.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.states.Mini2023Bot;
import org.timecrafters.minibots.states.Mini2023State;
@TeleOp (name= "2023Mini")
public class Mini2023Engine extends CyberarmEngine {
Mini2023Bot robot;
@Override
public void setup() {
robot = new Mini2023Bot(this);
addState(new Mini2023State(robot));
}
}

36
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java Normal file
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@@ -0,0 +1,36 @@
package org.timecrafters.minibots.states;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import org.timecrafters.minibots.engines.Mini2023Engine;
public class Mini2023Bot {
private final Mini2023Engine engine;
public TimeCraftersConfiguration configuration;
public DcMotor Opportunity, Spirit, Ingenuity;
public CRServo servoA, servoB, servoC;
public Mini2023Bot(Mini2023Engine engine) {
this.engine = engine;
setupRobot();
}
private void setupRobot() {
Opportunity = engine.hardwareMap.get(DcMotor.class, "Left Wheel");
Spirit = engine.hardwareMap.get(DcMotor.class, "Right Wheel");
servoA = engine.hardwareMap.get(CRServo.class, "Servo 1");
servoB = engine.hardwareMap.get(CRServo.class, "Servo 2");
servoC = engine.hardwareMap.get(CRServo.class, "Servo 3");
// configuration = new TimeCraftersConfiguration("2023 Mini");
}
}

46
TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java Normal file
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@@ -0,0 +1,46 @@
package org.timecrafters.minibots.states;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.engines.Mini2023Engine;
public class Mini2023State extends CyberarmState {
private final Mini2023Bot robot;
public double driveSpeed, orbitSpeed;
public Mini2023State(Mini2023Bot robot) {this.robot = robot;}
@Override
public void init() {
driveSpeed = 0;
orbitSpeed = 0;
robot.servoA.setPower(0);
robot.servoB.setPower(0);
robot.servoC.setPower(0);
robot.Opportunity.setPower(driveSpeed);
robot.Spirit.setPower(driveSpeed);
}
@Override
public void exec() {
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1) {
orbitSpeed = engine.gamepad2.left_stick_y;
robot.Opportunity.setPower(driveSpeed);
robot.Spirit.setPower(driveSpeed);
}
if (Math.abs(engine.gamepad1.right_stick_x) > 0.1) {
orbitSpeed = engine.gamepad1.right_stick_x * 0.75;
robot.servoA.setPower(orbitSpeed);
robot.servoB.setPower(orbitSpeed);
robot.servoC.setPower(orbitSpeed);
} else {
orbitSpeed = 0;
}
}
}