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Arm Motor and Collector Wheels (Arm need reinforcement, Cayden)

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This commit is contained in:
Sodi
2022-09-12 20:18:02 -05:00
parent 484079dec6
commit ff471bce8b
1 changed files with 28 additions and 1 deletions
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29
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.testing.states; package org.timecrafters.testing.states;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
public class PrototypeTeleOPState extends CyberarmState { public class PrototypeTeleOPState extends CyberarmState {
@@ -10,11 +12,27 @@ public class PrototypeTeleOPState extends CyberarmState {
public boolean Y; public boolean Y;
private boolean bprev; private boolean bprev;
private double drivePower = 1; private double drivePower = 1;
private boolean UpDPad;
public PrototypeTeleOPState(PrototypeBot1 robot) { public PrototypeTeleOPState(PrototypeBot1 robot) {
this.robot = robot; this.robot = robot;
} }
@Override
public void telemetry() {
engine.telemetry.addData("Arm Position", robot.armMotor.getCurrentPosition());
}
@Override
public void init() {
robot.armMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.armMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
robot.armMotor.setTargetPosition(600);
robot.armMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
@Override @Override
public void exec() { public void exec() {
@@ -23,6 +41,7 @@ public class PrototypeTeleOPState extends CyberarmState {
A = engine.gamepad1.a; A = engine.gamepad1.a;
X = engine.gamepad1.x; X = engine.gamepad1.x;
Y = engine.gamepad1.y; Y = engine.gamepad1.y;
UpDPad = engine.gamepad1.dpad_up;
//drive speed toggle //drive speed toggle
@@ -71,7 +90,7 @@ public class PrototypeTeleOPState extends CyberarmState {
} }
if (engine.gamepad1.a) { if (engine.gamepad1.b) {
robot.collectorLeft.setPower(1); robot.collectorLeft.setPower(1);
robot.collectorRight.setPower(-1); robot.collectorRight.setPower(-1);
@@ -85,5 +104,13 @@ public class PrototypeTeleOPState extends CyberarmState {
} }
if (engine.gamepad1.dpad_up) {
robot.armMotor.setPower(1);
} else {
robot.armMotor.setPower(0);
}
} }
} }