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Autonomous work

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This commit is contained in:
SpencerPiha
2022-12-22 20:35:08 -06:00
parent 08c5d657f0
commit ec14347e06
6 changed files with 29 additions and 16 deletions
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27
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightFourConeAutonomousEngine.java
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@@ -3,6 +3,7 @@ package org.timecrafters.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.BottomArm;
import org.timecrafters.Autonomous.States.CollectorDistanceState; import org.timecrafters.Autonomous.States.CollectorDistanceState;
import org.timecrafters.Autonomous.States.CollectorState; import org.timecrafters.Autonomous.States.CollectorState;
import org.timecrafters.Autonomous.States.ConeIdentification; import org.timecrafters.Autonomous.States.ConeIdentification;
@@ -18,7 +19,7 @@ import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm; import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.TeleOp.states.PhoenixBot1; import org.timecrafters.TeleOp.states.PhoenixBot1;
@Autonomous (name = "3 cone auto right") @Autonomous (name = "4 cone auto right")
public class RightFourConeAutonomousEngine extends CyberarmEngine { public class RightFourConeAutonomousEngine extends CyberarmEngine {
PhoenixBot1 robot; PhoenixBot1 robot;
@@ -39,23 +40,27 @@ public class RightFourConeAutonomousEngine extends CyberarmEngine {
// 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel // 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel
addState(new DriverStateWithOdometerUpperArmParallelState(robot, "RightFourCone", "04-0")); addState(new DriverStateWithOdometerUpperArmParallelState(robot, "RightFourCone", "04-0"));
// 5 Turn Towards and look for junction with sensor
addState(new RotationState(robot, "RightFourCone", "05-0"));
// 6 Raise lower arm while slowly driving at the junction (parallel state) // 6 Raise lower arm while slowly driving at the junction (parallel state)
addState(new JunctionAllignmentState(robot, "RightFourCone", "06-0")); addState(new BottomArm(robot, "RightFourCone", "05-0"));
// 7 Drop top arm down on the junction to place cone // 6 Turn Towards and look for junction with sensor
addState(new TopArm(robot, "RightFourCone", "07-0")); addState(new RotationState(robot, "RightFourCone", "06-0"));
// 6-1 drive forward or backwards if needed this is customizable so we can adapt
addState(new DriverStateWithOdometer(robot, "RightFourCone", "06-1"));
// 7 Drop bottom arm down on the junction to place cone
addState(new BottomArm(robot, "RightFourCone", "07-0"));
// 8 Drop cone as soon as arm is in position // 8 Drop cone as soon as arm is in position
// addState(new CollectorState(robot, "RightFourCone", "08-0")); addState(new CollectorState(robot, "RightFourCone", "08-0"));
// 9 Raise arm to clear junction // 9 Raise bottom arm to clear junction
// addState(new TopArm(robot, "RightFourCone", "09-0")); addState(new BottomArm(robot, "RightFourCone", "09-0"));
// //
// // 10 Back up and bring lower arm down (parallel state) // // 10 Back up and bring lower arm down (parallel state)
// addState(new DriverStateWithOdometerLowerArmParallelState2nd(robot, "RightFourCone", "10-0")); addState(new DriverStateWithOdometerLowerArmParallelState2nd(robot, "RightFourCone", "10-0"));
// //
// // 11 Bring upper arm to the correct position for the top cone on stack (check with distance sensor) // // 11 Bring upper arm to the correct position for the top cone on stack (check with distance sensor)
// addState(new TopArm(robot, "RightFourCone", "11-0")); // addState(new TopArm(robot, "RightFourCone", "11-0"));

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/BottomArm.java
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@@ -53,7 +53,7 @@ public class BottomArm extends CyberarmState {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + AddedDistance); robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + AddedDistance);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + AddedDistance); robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + AddedDistance);
} else if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos && !up) { } if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos && !up) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - AddedDistance); robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - AddedDistance);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - AddedDistance); robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - AddedDistance);

4
TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java
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@@ -54,8 +54,8 @@ public class CollectorState extends CyberarmState {
} }
} else { } else {
robot.collectorLeft.setPower(0); // robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0); // robot.collectorRight.setPower(0);
setHasFinished(true); setHasFinished(true);
} }

3
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverStateWithOdometer.java
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@@ -30,11 +30,14 @@ public class DriverStateWithOdometer extends CyberarmState {
robot.frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoder.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
} }
@Override @Override

7
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverStateWithOdometerLowerArmParallelState2nd.java
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@@ -30,17 +30,22 @@ public class DriverStateWithOdometerLowerArmParallelState2nd extends CyberarmSta
robot.frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.frontLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoder.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
addParallelState(new BottomArm(robot, "RightFourCone", "10-1"));
} }
@Override @Override
public void exec() { public void exec() {
addParallelState(new BottomArm(robot, "RightFourCone", "10-1"));
if (stateDisabled) { if (stateDisabled) {
setHasFinished(true); setHasFinished(true);
return; return;

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/ServoCameraRotate.java
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@@ -21,7 +21,7 @@ public class ServoCameraRotate extends CyberarmState {
setHasFinished(true); setHasFinished(true);
} else { } else {
robot.CameraServo.setPosition(ServoPosition); robot.CameraServo.setPosition(ServoPosition);
// setHasFinished(true); setHasFinished(true);
} }
} }
} }