diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java index 83ca4fd..36bcd6f 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java @@ -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 diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftStateAutoEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftStateAutoEngine.java index 5d70892..8587bc5 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftStateAutoEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftStateAutoEngine.java @@ -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 { diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java index b67b6e7..5e63cb9 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java @@ -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") diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentAngleState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentAngleState.java index d33a641..21a7af8 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentAngleState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentAngleState.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentDistanceState.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentDistanceState.java index 1dbf266..15c18b6 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentDistanceState.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/JunctionAllignmentDistanceState.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java index 81ae1e3..37278b6 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java +++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixTeleOP.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java similarity index 62% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixTeleOP.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java index 97c0697..a31849d 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixTeleOP.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixTeleOP.java @@ -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") diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixWingEngine.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java similarity index 93% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixWingEngine.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java index 45b5d71..e842f5e 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/engine/PhoenixWingEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/engine/PhoenixWingEngine.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserServoHeight.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java similarity index 96% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserServoHeight.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java index 1965c1b..5844f69 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserServoHeight.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserServoHeight.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java similarity index 97% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java index 4bc6717..868dedc 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/LaserState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixBot1.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java similarity index 99% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixBot1.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java index 5e193f2..b9474a9 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixBot1.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java @@ -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; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java similarity index 99% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java index 8ebe41d..7aa57f0 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java @@ -1,4 +1,4 @@ -package org.timecrafters.Autonomous.TeleOp.states; +package org.timecrafters.TeleOp.states; import android.annotation.SuppressLint; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPv2.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java similarity index 96% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPv2.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java index eb35a9b..ec67479 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixTeleOPv2.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java @@ -1,4 +1,4 @@ -package org.timecrafters.Autonomous.TeleOp.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixWingState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java similarity index 74% rename from TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixWingState.java rename to TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java index bcc76bb..1418adb 100644 --- a/TeamCode/src/main/java/org/timecrafters/Autonomous/TeleOp/states/PhoenixWingState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixWingState.java @@ -1,4 +1,4 @@ -package org.timecrafters.Autonomous.TeleOp.states; +package org.timecrafters.TeleOp.states; import org.cyberarm.engine.V2.CyberarmState; diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/engines/Mini2023Engine.java b/TeamCode/src/main/java/org/timecrafters/minibots/engines/Mini2023Engine.java new file mode 100644 index 0000000..ab3a0cf --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/engines/Mini2023Engine.java @@ -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)); + + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java b/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java new file mode 100644 index 0000000..6d44680 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023Bot.java @@ -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"); + + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java b/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java new file mode 100644 index 0000000..f67233a --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/minibots/states/Mini2023State.java @@ -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; + } + + + +} +}