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Merge remote-tracking branch 'origin/master'

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SpencerPiha
2023-01-04 16:10:45 -06:00
parent 0c5b5f4cc6 b598b0f97f
commit de1fe0a01f
9 changed files with 348 additions and 154 deletions
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134
TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
View File

@@ -10,10 +10,15 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Act
import java.lang.reflect.Constructor;
import java.lang.reflect.InvocationTargetException;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.CopyOnWriteArrayList;
/**
* CyberarmEngine Version 3.0 | December 31st 2022
* After a few years of use, it's safe to say this implementation is stable and reasonably feature complete.
* * Added support for background tasks that run unqueued for the duration of the op mode unless stopped.
* * Added thread-safe 'blackboard' for storing bits that need to be easily shared between states/tasks.
*
* CyberarmEngine Version 2.0 | October 26th 2018
* AN Experimental reimplementation of GoldfishPi's original Engine system.
* Designed to be easily maintainable, extensible, and easy to understand.
@@ -23,9 +28,12 @@ public abstract class CyberarmEngine extends OpMode {
public static CyberarmEngine instance;
//Array To Hold States
final private CopyOnWriteArrayList<CyberarmState> cyberarmStates = new CopyOnWriteArrayList<>();
public HashMap<String, String> blackboard = new HashMap<>();
private int activeStateIndex = 0;
private boolean isRunning;
// Array to Hold Tasks
final private CopyOnWriteArrayList<CyberarmState> backgroundTasks = new CopyOnWriteArrayList<>();
// HashMap to store data for States and Tasks
final private ConcurrentHashMap<String, Object> blackboard = new ConcurrentHashMap<>();
private int activeStateIndex = 0; // Index of currently running state
private boolean isRunning; // Whether engine is running or not
private final static String TAG = "PROGRAM.ENGINE";
public boolean showStateChildrenListInTelemetry = false;
@@ -49,6 +57,11 @@ public abstract class CyberarmEngine extends OpMode {
for (CyberarmState state: cyberarmStates) {
initState(state);
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
initState(task);
}
}
/**
@@ -73,6 +86,11 @@ public abstract class CyberarmEngine extends OpMode {
if (cyberarmStates.size() > 0) {
runState(cyberarmStates.get(0));
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
runState(task);
}
}
/**
@@ -95,7 +113,11 @@ public abstract class CyberarmEngine extends OpMode {
}
// Add telemetry to show currently running state
telemetry.addLine("Running state: " +state.getClass().getSimpleName() + ". State: " + activeStateIndex + " of " + (cyberarmStates.size()-1));
telemetry.addLine(
"Running state: " +state.getClass().getSimpleName() + ". State: " +
(activeStateIndex + 1) + " of " + (cyberarmStates.size()) +
" (" + activeStateIndex + "/" + (cyberarmStates.size() - 1) + ")");
if (showStateChildrenListInTelemetry && state.hasChildren()) {
for(CyberarmState child: state.children) {
telemetry.addLine(" Child: " + child.getClass().getSimpleName() + " [" + child.children.size() + "] grandchildren");
@@ -113,6 +135,11 @@ public abstract class CyberarmEngine extends OpMode {
} else {
stateTelemetry(state);
// Background tasks
for (CyberarmState task : backgroundTasks) {
stateTelemetry(task);
}
}
gamepadCheckerGamepad1.update();
@@ -128,7 +155,10 @@ public abstract class CyberarmEngine extends OpMode {
stopState(state);
}
// Background tasks
for (CyberarmState task : backgroundTasks) {
stopState(task);
}
}
/**
@@ -225,6 +255,98 @@ public abstract class CyberarmEngine extends OpMode {
return state;
}
/**
* Adds state to the most recently added top level state as a parallel state
* @param state State to add to last top level state
* @return CyberarmState
*/
public CyberarmState addParallelStateToLastState(CyberarmState state) {
CyberarmState parentState = cyberarmStates.get(cyberarmStates.size() - 1);
Log.i(TAG, "Adding parallel cyberarmState "+ state.getClass() + " to parent state " + parentState.getClass());
parentState.addParallelState((state));
return state;
}
/**
* Adds state as a background task that is run until the opmode stops
* background tasks are not queued, they are all started at once.
* @param state State to add to list
* @return CyberarmState
*/
public CyberarmState addTask(CyberarmState state) {
Log.i(TAG, "Adding task cyberarmState "+ state.getClass());
backgroundTasks.add(state);
if (isRunning()) {
initState(state);
runState(state);
}
return state;
}
/**
* Retrieve value from blackboard
* @param key String to use to look up value
* @return Returns T of stored Object
*/
public <T> T blackboardGet(String key) {
return (T) blackboard.get(key);
}
public String blackboardGetString(String key) {
return (String) blackboard.get(key);
}
public int blackboardGetInt(String key) {
return (int) blackboard.get(key);
}
public long blackboardGetLong(String key) {
return (long) blackboard.get(key);
}
public float blackboardGetFloat(String key) {
return (float) blackboard.get(key);
}
public double blackboardGetDouble(String key) {
return (double) blackboard.get(key);
}
public boolean blackboardGetBoolean(String key) {
return (boolean) blackboard.get(key);
}
/**
* Set value of key to value
* @param key String
* @param value Object
* @return Returns T
*/
public <T> T blackboardSet(String key, T value) {
blackboard.put(key, value);
return (T) value;
}
/**
* Remove value from blackboard
* @param key String
* @param value Object
* @return Returns T
*/
public <T> T blackboardRemove(String key, T value) {
blackboard.remove(key);
return (T) value;
}
private void buttonDownForStates(CyberarmState state, Gamepad gamepad, String button) {
state.buttonDown(gamepad, button);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java
View File

@@ -96,6 +96,6 @@ public class LeftSideAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboardGetString("parkPlace"));
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
View File

@@ -151,6 +151,6 @@ public class RightFourConeAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboardGetString("parkPlace"));
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java
View File

@@ -97,6 +97,6 @@ public class RightSideAutonomousEngine extends CyberarmEngine {
public void loop() {
super.loop();
telemetry.addData("BlackBoard Input", blackboard.get("parkPlace"));
telemetry.addData("BlackBoard Input", blackboardGetString("parkPlace"));
}
}

14
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java
View File

@@ -21,7 +21,7 @@ public class ConeIdentification extends CyberarmState {
@Override
public void init() {
engine.blackboard.put("parkPlace", "1");
engine.blackboardSet("parkPlace", "1");
robot.tfod.activate();
initTime = System.currentTimeMillis();
}
@@ -50,11 +50,11 @@ public class ConeIdentification extends CyberarmState {
engine.telemetry.addData("- Size (Width/Height)","%.0f / %.0f", width, height);
if (recognition.getLabel().equals("#2")) {
engine.telemetry.addData("#2", engine.blackboard.put("parkPlace", "2"));
engine.telemetry.addData("#2", engine.blackboardSet("parkPlace", "2"));
} else if (recognition.getLabel().equals("#3")) {
engine.telemetry.addData("#3",engine.blackboard.put("parkPlace", "3"));
engine.telemetry.addData("#3",engine.blackboardSet("parkPlace", "3"));
} else {
engine.telemetry.addData("#1", engine.blackboard.put("parkPlace", "1"));
engine.telemetry.addData("#1", engine.blackboardSet("parkPlace", "1"));
}
}
}
@@ -90,12 +90,12 @@ public class ConeIdentification extends CyberarmState {
bestConfidence = recognition.getConfidence();
if (recognition.getLabel().equals("2 Bulb")) {
engine.blackboard.put("parkPlace", "2");
engine.blackboardSet("parkPlace", "2");
} else if (recognition.getLabel().equals("3 Panel")) {
engine.blackboard.put("parkPlace", "3");
engine.blackboardSet("parkPlace", "3");
} else {
engine.blackboard.put("parkPlace", "1");
engine.blackboardSet("parkPlace", "1");
}
}
}

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java
View File

@@ -43,7 +43,7 @@ public class DriverParkPlaceState extends CyberarmState {
setHasFinished(true);
return;
}
String placement = engine.blackboard.get("parkPlace");
String placement = engine.blackboardGetString("parkPlace");
if (placement != null) {
if (!placement.equals(intendedPlacement)){
setHasFinished(true);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/PathDecision.java
View File

@@ -16,7 +16,7 @@ public class PathDecision extends CyberarmState {
@Override
public void exec() {
String placement = engine.blackboard.get("parkPlace");
String placement = engine.blackboardGetString("parkPlace");
setHasFinished(true);
}

268
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
View File

@@ -20,7 +20,15 @@ public class PhoenixTeleOPState extends CyberarmState {
private int CyclingArmUpAndDown = 0;
private double RobotRotation;
private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.25;
private double MinimalPower = 0.25, topServoOffset = -0.05;
private double servoCollectLow = 0.45; //Low servos, A button
private double servoCollectHigh = 0.55; //High servos, A button
private double servoLowLow = 0.45; //Low servos, X button
private double servoLowHigh = 0.75; //High servos, X button
private double servoMedLow = 0.45; //Low servos, B button
private double servoMedHigh = 0.9; //High servos, B button
private double servoHighLow = 0.8; //Low servos, Y button
private double servoHighHigh = 0.9; //High servos, Y button
private GamepadChecker gamepad1Checker, gamepad2Checker;
private int OCD;
@@ -68,7 +76,7 @@ public class PhoenixTeleOPState extends CyberarmState {
robot.LowRiserLeft.setPosition(0.45);
robot.LowRiserRight.setPosition(0.45);
robot.HighRiserLeft.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45 + topServoOffset);
robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -123,10 +131,64 @@ public class PhoenixTeleOPState extends CyberarmState {
Math.abs(engine.gamepad1.left_stick_y) < 0.1 &&
Math.abs(engine.gamepad1.right_stick_y) < 0.1) {
drivePower = 0;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(-drivePower);
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
if (engine.gamepad1.dpad_right) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = 90;
CalculateDeltaRotation();
if (RobotRotation > -90 && RobotRotation < 89) {//CCW
drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation > 91 || RobotRotation < -90) {//CW
drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation < 91 && RobotRotation > 89) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
}
if (engine.gamepad1.dpad_left) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = -90;
CalculateDeltaRotation();
if (RobotRotation > -89 && RobotRotation <= 90) {//CW
drivePower = (0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation > 90 || RobotRotation < -91) {//CCW
drivePower = (-0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation < 91 && RobotRotation > 89) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
}
if (engine.gamepad1.y) {
@@ -134,13 +196,13 @@ public class PhoenixTeleOPState extends CyberarmState {
RotationTarget = 180;
CalculateDeltaRotation();
if (RobotRotation < 0 && RobotRotation > -179) {
drivePower = (1 * DeltaRotation / 180) + MinimalPower;
drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
} else if (RobotRotation >= 0) {
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
@@ -159,14 +221,14 @@ public class PhoenixTeleOPState extends CyberarmState {
RotationTarget = 0;
CalculateDeltaRotation();
if (RobotRotation < -1) {
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation > 1) {
drivePower = (1 * DeltaRotation / 180) + MinimalPower;
drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
@@ -186,14 +248,14 @@ public class PhoenixTeleOPState extends CyberarmState {
RotationTarget = -45;
CalculateDeltaRotation();
if (RobotRotation < -46 || RobotRotation > 135) {//CCW
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation > -44 && RobotRotation < 135) {//CW
drivePower = (1 * DeltaRotation / 180) + MinimalPower;
drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
@@ -202,36 +264,9 @@ public class PhoenixTeleOPState extends CyberarmState {
if (RobotRotation > -46 && RobotRotation < -44) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
}
if (engine.gamepad1.dpad_right) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = 45;
CalculateDeltaRotation();
if (RobotRotation > -135 && RobotRotation < 44) {//CCW
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation < -135 || RobotRotation < 46) {//CW
drivePower = (1 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation < 46 && RobotRotation > 44) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(drivePower);
}
}
@@ -240,14 +275,14 @@ public class PhoenixTeleOPState extends CyberarmState {
RotationTarget = 45;
CalculateDeltaRotation();
if (RobotRotation > -135 && RobotRotation < 44) {//CCW
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation < -135 || RobotRotation > 46) {//CW
drivePower = (1 * DeltaRotation / 180) + MinimalPower;
drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
@@ -256,9 +291,9 @@ public class PhoenixTeleOPState extends CyberarmState {
if (RobotRotation < 46 && RobotRotation > 44) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(drivePower);
}
}
@@ -274,7 +309,7 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (engine.gamepad2.right_bumper) {
if (robot.HighRiserLeft.getPosition() < 1.0) {
if (robot.HighRiserLeft.getPosition() < 1.0 - Math.abs(topServoOffset)) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
@@ -304,7 +339,7 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}
if (/*robot.LowRiserLeft.getPosition() < 0.75 &&*/ robot.HighRiserLeft.getPosition() > 0.85 && downSensor() < 840) {
if (robot.LowRiserLeft.getPosition() < 0.75 && robot.HighRiserLeft.getPosition() > 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
@@ -331,49 +366,8 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}//end of a
// if (engine.gamepad2.back) {
// robot.backLeftDrive.setPower(1);
// robot.backRightDrive.setPower(1);
// robot.frontLeftDrive.setPower(1);
// robot.frontRightDrive.setPower(1);
// if (System.currentTimeMillis() - lastStepTime >= 1500) {
// robot.backLeftDrive.setPower(0);
// robot.backRightDrive.setPower(0);
// robot.frontLeftDrive.setPower(0);
// robot.frontRightDrive.setPower(0);
// }
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// if (robot.HighRiserLeft.getPosition() < 1) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
// }
// }
// }
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// if (robot.LowRiserLeft.getPosition() < 1 && robot.HighRiserLeft.getPosition() == 1) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// }
// }
// }
// if (System.currentTimeMillis() >= 250) {
// robot.backLeftDrive.setPower(1);
// robot.backRightDrive.setPower(1);
// robot.frontLeftDrive.setPower(1);
// robot.frontRightDrive.setPower(1);
// if (System.currentTimeMillis() - lastStepTime >= 250) {
// robot.backLeftDrive.setPower(0);
// robot.backRightDrive.setPower(0);
// robot.frontLeftDrive.setPower(0);
// robot.frontRightDrive.setPower(0);
// }
// }
//
// }
//i feel like removing that was a stupidly impulsive move but i gave up on not being stupidly
// impulsive a long time ago lol. Besides, when have we even used that function? It got replaced.
if (engine.gamepad2.a) {
OCD = 1;
@@ -391,108 +385,115 @@ public class PhoenixTeleOPState extends CyberarmState {
OCD = 4;
}
if (OCD == 1) { //Ground junction
if (robot.LowRiserLeft.getPosition() >= 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (OCD == 1) { //Ground junction/Collect
if (robot.LowRiserLeft.getPosition() >= servoCollectLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
} else if (robot.LowRiserLeft.getPosition() <= servoCollectLow &&
robot.HighRiserLeft.getPosition() > servoCollectHigh) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() <= 0.46) {
} else if (robot.LowRiserLeft.getPosition() <= servoCollectLow + 0.01 &&
robot.HighRiserLeft.getPosition() <= servoCollectHigh) {
OCD = 0;
}
}
if (OCD == 2) { //low junction
if (robot.LowRiserLeft.getPosition() > 0.46 && robot.HighRiserLeft.getPosition() > 0.65) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() > servoLowLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- both levels too high
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.LowRiserLeft.getPosition() > 0.44 && robot.HighRiserLeft.getPosition() > 0.66) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
} // <-- low level too high
if (robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.LowRiserLeft.getPosition() > servoLowLow - 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.44 && robot.HighRiserLeft.getPosition() < 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() < servoLowLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- both levels too low
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
} // <-- low level too low
if (robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoLowHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.64 && robot.HighRiserLeft.getPosition() <= 0.66) {
if (robot.LowRiserLeft.getPosition() > servoLowLow - 0.01 &&
robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh - 0.01 &&
robot.HighRiserLeft.getPosition() <= servoLowHigh + 0.01) {
OCD = 0;
}
}
if (OCD == 3) { // Medium junction
if (robot.LowRiserLeft.getPosition() > 0.46 && robot.HighRiserLeft.getPosition() > 0.8) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() > servoMedLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- both levels too high
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.8) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
} // <-- low level too high
if (robot.LowRiserLeft.getPosition() <= servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoMedHigh + 0.01)/* <-- high level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.44 && robot.HighRiserLeft.getPosition() < 0.79) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- both levels too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.79) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
}
if (robot.LowRiserLeft.getPosition() < servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoMedHigh - 0.01)/* <-- high level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.6 && robot.HighRiserLeft.getPosition() > 0.79 && robot.HighRiserLeft.getPosition() <= 0.81) {
}
if (robot.LowRiserLeft.getPosition() > servoMedLow - 0.01 &&
robot.LowRiserLeft.getPosition() <= servoMedLow &&
robot.HighRiserLeft.getPosition() > servoMedHigh - 0.01 &&
robot.HighRiserLeft.getPosition() <= servoMedHigh) {
OCD = 0;
}
}
if (OCD == 4) { // High Junction
if (robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.HighRiserLeft.getPosition() < servoHighHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
if (robot.LowRiserLeft.getPosition() <= 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() < servoHighLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
if (robot.HighRiserLeft.getPosition() >= 0.84 && robot.LowRiserLeft.getPosition() >= 0.64) {
if (robot.HighRiserLeft.getPosition() >= servoHighHigh &&
robot.LowRiserLeft.getPosition() >= servoHighLow) {
OCD = 0;
}
}
@@ -516,18 +517,13 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}
public double downSensor() {
double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5, Distance_6, Distance_7, Distance_8, Distance_9, Distance_10;
double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5;
Distance_1 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_6 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_7 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_8 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_9 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_10 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5/* + Distance_6 + Distance_7 + Distance_8 + Distance_9 + Distance_10*/)/5;
Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5)/5;
return Distance;
}

76
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/TasksEngine.java Normal file
View File

@@ -0,0 +1,76 @@
package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.CyberarmState;
@TeleOp(name = "TasksEngine", group = "testing")
public class TasksEngine extends CyberarmEngine {
@Override
public void setup() {
addTask(new CyberarmState() {
@Override
public void init() {
engine.blackboardSet("counter", 0);
engine.blackboardSet("string", "I IS STRING");
engine.blackboardSet("boolean", true);
}
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 1", engine.blackboardGetInt("counter"));
engine.telemetry.addData("TASK 1", "I am a task!");
}
});
addTask(new CyberarmState() {
int lastCount = 0, blackboardLastCount = 0;
int count = 0;
double lastRuntime = 0;
@Override
public void exec() {
if (runTime() - lastRuntime >= 1000.0) {
lastRuntime = runTime();
lastCount = count;
blackboardLastCount = engine.blackboardGetInt("counter");
}
engine.blackboardSet("counter", engine.blackboardGetInt("counter") + 1);
count++;
}
@Override
public void telemetry() {
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string"));
engine.telemetry.addData("TASK 2", engine.blackboardGetBoolean("boolean"));
engine.telemetry.addData("TASK 2", engine.blackboardGetInt("counter") - blackboardLastCount);
engine.telemetry.addData("TASK 2", count - lastCount);
engine.telemetry.addData("TASK 2", engine.blackboardGetString("string_NULL") == null);
}
});
addState(new CyberarmState() {
@Override
public void exec() {
if (runTime() >= 10_000) {
setHasFinished(true);
}
}
});
addParallelStateToLastState(new CyberarmState() {
@Override
public void exec() {
}
@Override
public void telemetry() {
engine.telemetry.addData("Parallel state 1", "Hello There");
}
});
}
}