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Sodi's minibot teleop

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Cyberarm
2022-08-18 20:41:53 -05:00
parent 8b9a817525
commit ff864b2668
2 changed files with 66 additions and 0 deletions
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14
TeamCode/src/main/java/org/timecrafters/testing/engine/SodiEngine.java Normal file
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package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.testing.states.SodiState;
@TeleOp(name = "Wheel")
public class SodiEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new SodiState());
}
}

52
TeamCode/src/main/java/org/timecrafters/testing/states/SodiState.java Normal file
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package org.timecrafters.testing.states;
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 SodiState extends CyberarmState {
CRServo Wheel, Rack;
DcMotor ForePort, ForeStar, HindPort, HindStar;
Servo Zygo;
@Override
public void init() {
super.init();
Wheel=engine.hardwareMap.crservo.get("Wheel");
Rack=engine.hardwareMap.crservo.get("Rack");
ForePort=engine.hardwareMap.dcMotor.get("ForePort");
ForeStar=engine.hardwareMap.dcMotor.get("ForeStar");
HindPort=engine.hardwareMap.dcMotor.get("HindPort");
HindStar=engine.hardwareMap.dcMotor.get("HindStar");
Zygo=engine.hardwareMap.servo.get("Zygo");
}
@Override
public void exec() {
if (engine.gamepad1.x) {
Wheel.setPower(1.0);
} else if(engine.gamepad1.b) {
Wheel.setPower(-1.0);
} else {
Wheel.setPower(0);
}
if (engine.gamepad1.y) {
Rack.setPower(1.0);
} else if(engine.gamepad1.a) {
Rack.setPower(-1.0);
} else {
Rack.setPower(0);
}
ForePort.setPower(engine.gamepad1.left_stick_y * 1);
HindPort.setPower(engine.gamepad1.left_stick_y * 1);
ForeStar.setPower(engine.gamepad1.right_stick_y * 1);
HindStar.setPower(engine.gamepad1.right_stick_y * 1);
if (engine.gamepad1.left_bumper) {
Zygo.setPosition(1.0);
} else {
Zygo.setPosition(0);
}
}
}