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Autonomous config

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This commit is contained in:
Sodi
2023-02-06 20:23:13 -06:00
parent c9c654cf06
commit f2bd08a69a
7 changed files with 52 additions and 13 deletions
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2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java
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@@ -17,7 +17,7 @@ import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm; import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1; import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
@Autonomous (name = "left 2 cone auto") //@Autonomous (name = "left 2 cone auto")
public class LeftTwoConeAutonomousEngine extends CyberarmEngine { public class LeftTwoConeAutonomousEngine extends CyberarmEngine {
PhoenixBot1 robot; PhoenixBot1 robot;

17
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightStateAutoEngine.java
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@@ -5,6 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.Autonomous.States.DriverStateWithOdometer; import org.timecrafters.Autonomous.States.DriverStateWithOdometer;
import org.timecrafters.Autonomous.States.RotationState; import org.timecrafters.Autonomous.States.RotationState;
import org.timecrafters.Autonomous.States.TopArmv2;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1; import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
@Autonomous(name = "Right Side") @Autonomous(name = "Right Side")
@@ -16,15 +17,17 @@ public class RightStateAutoEngine extends CyberarmEngine {
robot = new PhoenixBot1(this); robot = new PhoenixBot1(this);
robot.imu.resetYaw(); robot.imu.resetYaw();
// setupFromConfig( setupFromConfig(
// robot.configuration, robot.configuration,
// "org.timecrafters.Autonomous.States", "org.timecrafters.Autonomous.States",
// robot, robot,
// PhoenixBot1.class, PhoenixBot1.class,
// "Right State Auto"); "Right State Auto");
// addState(new TopArmv2(robot, "Right State Auto", "06-0"));
// // driving forward to low junction // // driving forward to low junction
addState(new DriverStateWithOdometer(robot, "Right State Auto", "02-0")); // addState(new DriverStateWithOdometer(robot, "Right State Auto", "02-0"));
// // rotate left towards low junction // // rotate left towards low junction
// addState(new RotationState(robot, "Right State Auto", "02-1")); // addState(new RotationState(robot, "Right State Auto", "02-1"));
// // driving forward/ backwards to adjust // // driving forward/ backwards to adjust

2
TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightTwoConeAutonomousEngine.java
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@@ -17,7 +17,7 @@ import org.timecrafters.Autonomous.States.ServoCameraRotate;
import org.timecrafters.Autonomous.States.TopArm; import org.timecrafters.Autonomous.States.TopArm;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1; import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
@Autonomous (name = "Right 2 cone auto") //@Autonomous (name = "Right 2 cone auto")
public class RightTwoConeAutonomousEngine extends CyberarmEngine { public class RightTwoConeAutonomousEngine extends CyberarmEngine {
PhoenixBot1 robot; PhoenixBot1 robot;

4
TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorState.java
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@@ -52,8 +52,8 @@ 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);
} }

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverStateWithOdometer.java
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@@ -287,7 +287,7 @@ public class DriverStateWithOdometer extends CyberarmState {
} }
if (driveStage == 5) { if (driveStage == 5) {
// setHasFinished(true); setHasFinished(true);
} }
} }

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java
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@@ -104,7 +104,7 @@ public class RotationState extends CyberarmState {
robot.backLeftDrive.setPower(0); robot.backLeftDrive.setPower(0);
RotationStage ++; RotationStage ++;
// setHasFinished(true); setHasFinished(true);
} }
} }

36
TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArmv2.java Normal file
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@@ -0,0 +1,36 @@
package org.timecrafters.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.Autonomous.TeleOp.states.PhoenixBot1;
public class TopArmv2 extends CyberarmState {
private final PhoenixBot1 robot;
private double targetPower;
private int targetPosition;
private int tolerance;
public TopArmv2(PhoenixBot1 robot, String groupName, String actionName) {
this.robot = robot;
this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
this.targetPower = robot.configuration.variable(groupName, actionName, "targetPower").value();
this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
}
@Override
public void start() {
robot.ArmMotor.setTargetPosition(targetPosition);
robot.ArmMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.ArmMotor.setPower(targetPower);
}
@Override
public void exec() {
if (robot.ArmMotor.getTargetPosition() == targetPosition) {
setHasFinished(true);
}
}
}