TimeCrafters/FreightFrenzy
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added limits to the white arm so it doesn't over extend, also it cant retract if it is extended and needs to restart so that will need to be fixed.

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This commit is contained in:
Spencer
2021-11-20 16:11:08 -06:00
parent 7caa230822
commit 056f539abd
2 changed files with 60 additions and 46 deletions
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38
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
View File

@@ -74,16 +74,16 @@ public class Robot {
public static final int COUNTS_PER_REVOLUTION = 1000;
public DcMotor driveWarehouseLeft, driveWarehouseRight, driveGoalLeft, driveGoalRight,
collectorArmRiser, collectorArmBobbin, depositorArmRiser, depositorArmBobbin;
orangeArmRiser, orangeArmBobbin, whiteArmRiser, whiteArmBobbin;
// Collector
public Servo collectorDispenser;
public CRServo turretServo1;
public Servo orangeDispenser;
public CRServo turretServoOrange;
// Depositor
public Servo depositorDispenser;
public Servo whiteDispenser;
// Depositor, and carousel
public CRServo turretServo2, carouselWheel, collectorOrange, collectorWhite;
public CRServo turretServoWhite, carouselWheel, collectorOrange, collectorWhite;
@@ -207,24 +207,24 @@ public class Robot {
}
private void initCollector() {
collectorArmBobbin = engine.hardwareMap.dcMotor.get("collectorArmBobbin");
collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser");
collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
collectorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
orangeArmBobbin = engine.hardwareMap.dcMotor.get("orangeArmBobbin");
orangeDispenser = engine.hardwareMap.servo.get("orangeDispenser");
orangeArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
turretServoOrange = engine.hardwareMap.crservo.get("turretServoOrange");
orangeArmRiser = engine.hardwareMap.dcMotor.get("orangeArmRiser");
orangeArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
orangeArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
collectorOrange = engine.hardwareMap.crservo.get("collectorOrange");
}
private void initDepositor(){
depositorDispenser = engine.hardwareMap.servo.get("depositorDispenser");
depositorArmBobbin = engine.hardwareMap.dcMotor.get("depositorArmBobbin");
depositorArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser");
depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
depositorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
whiteDispenser = engine.hardwareMap.servo.get("whiteDispenser");
whiteArmBobbin = engine.hardwareMap.dcMotor.get("whiteArmBobbin");
whiteArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
turretServoWhite = engine.hardwareMap.crservo.get("turretServoWhite");
whiteArmRiser = engine.hardwareMap.dcMotor.get("whiteArmRiser");
whiteArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
whiteArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
collectorWhite = engine.hardwareMap.crservo.get("collectorWhite");
}

68
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -8,18 +8,24 @@ import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class TeleOpState extends CyberarmState {
Robot robot;
double maxDriveSpeed, maxCollectorArmSpeed, maxDepositorArmSpeed;
int maxArmTravelDistance;
public TeleOpState(Robot robot) {
this.robot = robot;
maxDriveSpeed = 1;
maxCollectorArmSpeed = 0.7;
maxDepositorArmSpeed = 0.7;
maxCollectorArmSpeed = 0.8;
maxDepositorArmSpeed = 0.8;
maxArmTravelDistance = 4000;
}
@Override
public void start() {
super.start();
// FIXME: Don't reset when doing autonomous stuff
// FIXME: Fix unable to retract if reset mid-match
robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
@@ -35,18 +41,18 @@ public class TeleOpState extends CyberarmState {
// dispenser powered
if (engine.gamepad1.b){
robot.collectorDispenser.setPosition(.5);
robot.orangeDispenser.setPosition(.5);
}
// if not pressed dispenser off
else {
robot.collectorDispenser.setPosition(0);
robot.orangeDispenser.setPosition(0);
}
// if one of triggers pressed arm extends or unextends
robot.collectorArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed);
robot.orangeArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed);
if (engine.gamepad1.left_trigger <= 0){
robot.collectorArmBobbin.setPower(-engine.gamepad1.right_trigger * maxCollectorArmSpeed);
robot.orangeArmBobbin.setPower(-engine.gamepad1.right_trigger * maxCollectorArmSpeed);
}
// if either of these buttons... move the servo
@@ -54,33 +60,33 @@ public class TeleOpState extends CyberarmState {
if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
if (engine.gamepad1.dpad_right) {
robot.turretServo1.setPower(-1);
robot.turretServoOrange.setPower(-1);
}
if (engine.gamepad1.dpad_left) {
robot.turretServo1.setPower(1);
robot.turretServoOrange.setPower(1);
}
}
// if neither of these buttons... power off
else {
robot.turretServo1.setPower(0);
robot.turretServoOrange.setPower(0);
}
// if dpad verticles pressed arm rises or lowers...
if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
if (engine.gamepad1.dpad_up) {
robot.collectorArmRiser.setPower(1);
robot.orangeArmRiser.setPower(1);
}
if (engine.gamepad1.dpad_down) {
robot.collectorArmRiser.setPower(-1);
robot.orangeArmRiser.setPower(-1);
}
}
// nothing pressed nothing move...
else {
robot.collectorArmRiser.setPower(0);
robot.orangeArmRiser.setPower(0);
}
// if bumpers pressed intake wheel move...
@@ -112,19 +118,27 @@ public class TeleOpState extends CyberarmState {
// GamePad 2
// if triggers are pressed then arm extends or unextends
robot.depositorArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);
if (robot.whiteArmBobbin.getCurrentPosition() <= maxArmTravelDistance && engine.gamepad2.left_trigger > 0) {
robot.whiteArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);
} else {
if (engine.gamepad2.left_trigger <= 0 && robot.whiteArmBobbin.getCurrentPosition() >= 0) {
robot.whiteArmBobbin.setPower(-engine.gamepad2.right_trigger * maxDepositorArmSpeed);
} else {
robot.whiteArmBobbin.setPower(0);
}
if (engine.gamepad2.left_trigger <= 0) {
robot.depositorArmBobbin.setPower(-engine.gamepad2.right_trigger * maxDepositorArmSpeed);
}
// if b is pressed then depositor door opens, if not pressed not opening.
if (engine.gamepad2.b){
robot.depositorDispenser.setPosition(.5);
robot.whiteDispenser.setPosition(.5);
}
else {
robot.depositorDispenser.setPosition(0);
robot.whiteDispenser.setPosition(0);
}
// if either of these buttons move the servo
@@ -132,32 +146,32 @@ public class TeleOpState extends CyberarmState {
if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) {
if (engine.gamepad2.dpad_right) {
robot.turretServo2.setPower(-1);
robot.turretServoWhite.setPower(-1);
}
if (engine.gamepad2.dpad_left) {
robot.turretServo2.setPower(1);
robot.turretServoWhite.setPower(1);
}
}
// if neither of these buttons power off
else {
robot.turretServo2.setPower(0);
robot.turretServoWhite.setPower(0);
}
// if dpad verticles pressed arm rises or lowers
if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
if (engine.gamepad2.dpad_up) {
robot.depositorArmRiser.setPower(1);
robot.whiteArmRiser.setPower(-1);
}
if (engine.gamepad2.dpad_down) {
robot.depositorArmRiser.setPower(-1);
robot.whiteArmRiser.setPower(1);
}
}
// nothing pressed nothing move...
else {
robot.depositorArmRiser.setPower(0);
robot.whiteArmRiser.setPower(0);
}
if (engine.gamepad2.left_bumper || engine.gamepad2.right_bumper) {
@@ -178,8 +192,8 @@ public class TeleOpState extends CyberarmState {
}
@Override
public void telemetry() {
engine.telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
}
}