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Merge remote-tracking branch 'origin/master'

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SpencerPiha
2022-09-11 10:44:50 -05:00
parent 1cf4cb8b2c 7ad255c2c7
commit f410a7ff54
10 changed files with 427 additions and 1 deletions
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24
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/Engine.java Normal file
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package org.timecrafters.minibots.cyberarm;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.engines.Common;
@TeleOp (name = "light test")
public class Engine extends CyberarmEngine {
Common robot;
@Override
public void setup() {
robot = new Common(this);
addState(new State(robot));
}
}

63
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/State.java Normal file
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package org.timecrafters.minibots.cyberarm;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.engines.Common;
public class State extends CyberarmState {
private final Common robot;
public State (Common robot) { this.robot = robot; }
@Override
public void init() {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
@Override
public void exec() {
if (engine.gamepad1.a) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_FOREST_PALETTE);
}
if (engine.gamepad1.x) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_OCEAN_PALETTE);
}
if (engine.gamepad1.y) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.STROBE_GOLD);
}
if (engine.gamepad1.b) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
}
else if (engine.gamepad1.dpad_up) {
robot.leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.COLOR_WAVES_LAVA_PALETTE);
}
}
}

27
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/Common.java Normal file
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package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmEngine;
public class Common {
private CyberarmEngine engine;
public RevBlinkinLedDriver leds;
public Common (CyberarmEngine engine) {
this.engine = engine;
setupRobot ();
}
private void setupRobot () {
leds = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
}
}

24
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java Normal file
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package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
import org.timecrafters.minibots.cyberarm.states.PingPongState;
@TeleOp (name = "Sodi PingPong")
public class PingPongEngine extends CyberarmEngine {
MecanumRobot robot;
@Override
public void setup() {
robot = new MecanumRobot(this);
addState(new PingPongState(robot));
}
}

112
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java Normal file
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package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class AssignmentOmniKinetic extends CyberarmState {
CRServo Wheel, Rack;
DcMotor Three, Zero, Two, One;
Servo Zygo;
@Override
public void init() {
super.init();
Wheel=engine.hardwareMap.crservo.get("Wheel");
Rack=engine.hardwareMap.crservo.get("Rack");
Three=engine.hardwareMap.dcMotor.get("Three");
Zero=engine.hardwareMap.dcMotor.get("Zero");
Two=engine.hardwareMap.dcMotor.get("Two");
One=engine.hardwareMap.dcMotor.get("One");
Zygo=engine.hardwareMap.servo.get("Zygo");
}
MecanumRobot robot;
public AssignmentOmniKinetic (MecanumRobot robot) {this.robot = robot;}
@Override
public void exec() {
if (engine.gamepad1.dpad_up) {
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
}
if (engine.gamepad1.dpad_down) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(-1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.dpad_left) {
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(-1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(1);
}
if (engine.gamepad1.) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.) {
robot.frontLeftDrive.setPower(-1);
robot.frontRightDrive.setPower(1);
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
if (engine.gamepad1.left_bumper) {
Zygo.setPosition(1.0);
}
if (engine.gamepad1.right_bumper) {
Zygo.setPosition(0);
}
if (engine.gamepad1.a) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.GREEN));
}
if (engine.gamepad1.b) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.RED));
}
if (engine.gamepad1.x) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.BLUE));
}
if (engine.gamepad1.y) {
engine.hardwareMap.led.get(String.valueOf(RevBlinkinLedDriver.BlinkinPattern.YELLOW));
}
}
}

22
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AutonomousReversalExperiment.java Normal file
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package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class AutonomousReversalExperiment extends CyberarmState {
MecanumRobot robot;
public AutonomousReversalExperiment (MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if (engine.gamepad1.dpad_up) {
}
}
}

35
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java Normal file
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package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class PingPongState extends CyberarmState {
private final MecanumRobot robot;
public PingPongState(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if (engine.gamepad1.left_bumper) {
robot.frontLeftDrive.setPower(1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(1);
robot.frontRightDrive.setPower(-1);
}
else if (engine.gamepad1.right_bumper) {
robot.frontLeftDrive.setPower(-1);
robot.backLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
else {
robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y);
robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y);
robot.backRightDrive.setPower(engine.gamepad1.right_stick_y);
robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y);
}
}
}