From 1944e3c57b9f5281e90d5bc9f79e87c9283323c7 Mon Sep 17 00:00:00 2001 From: Spencer Date: Sat, 4 Dec 2021 16:32:28 -0600 Subject: [PATCH] added configuration --- .../Autonomous/Engines/RedWarehouseEngine.java | 16 ++++++++-------- .../Autonomous/States/DriveState.java | 10 +++++----- .../Competition/TeleOp/Engines/TeleOpEngine.java | 2 +- .../Competition/TeleOp/States/TeleOpState.java | 12 ++++++------ 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java index f908f24..8229a45 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java @@ -12,14 +12,14 @@ public class RedWarehouseEngine extends CyberarmEngine { public void setup() { Robot robot = new Robot(this); - addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0")); - addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "02_0")); - addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "03_0")); - addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "04_0")); - addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "05_0")); - addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0")); - addState(new DriveState(robot, 1500, 500, 1, .75)); - addState(new DriveState(robot, 1500, 1500, 1, 1)); + addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "01_0")); + addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0")); + addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "03_0")); + addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "04_0")); + addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "05_0")); + addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "06_0")); + addState(new DriveState(robot,"RedWarehouseAutonomous", "07_0")); + addState(new DriveState(robot, "RedWarehouseAutonomous", "08_0")); } } diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java index cedf804..1833cf6 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java @@ -9,12 +9,12 @@ public class DriveState extends CyberarmState { Robot robot; double distanceLeft, distanceRight, powerLeft, powerRight; - public DriveState(Robot robot, double distanceLeft, double distanceRight, double powerLeft, double powerRight) { + public DriveState(Robot robot, String groupName, String actionName) { this.robot = robot; - this.distanceLeft = distanceLeft; - this.distanceRight = distanceRight; - this.powerLeft = powerLeft; - this.powerRight = powerRight; + this.distanceLeft = robot.configuration.variable(groupName, actionName, "distanceLeft").value(); + this.distanceRight = robot.configuration.variable(groupName, actionName, "distanceRight").value(); + this.powerLeft = robot.configuration.variable(groupName, actionName, "powerLeft").value(); + this.powerRight = robot.configuration.variable(groupName, actionName, "powerRight").value(); } @Override diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java index cb72fd7..c1f7fd3 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java @@ -1,5 +1,5 @@ package org.timecrafters.FreightFrenzy.Competition.TeleOp.Engines; - +//adb connect 192.168.43.1 import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import org.cyberarm.engine.V2.CyberarmEngine; diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java index 1c1475b..31041a2 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java @@ -90,11 +90,11 @@ public class TeleOpState extends CyberarmState { if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) { if (engine.gamepad1.dpad_up) { - robot.orangeArmRiser.setPower(1); + robot.orangeArmRiser.setPower(0.8); } if (engine.gamepad1.dpad_down) { - robot.orangeArmRiser.setPower(-1); + robot.orangeArmRiser.setPower(-0.5); } } // nothing pressed nothing move... @@ -159,11 +159,11 @@ public class TeleOpState extends CyberarmState { if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) { if (engine.gamepad2.dpad_up) { - robot.whiteArmRiser.setPower(-1); + robot.whiteArmRiser.setPower(8); } if (engine.gamepad2.dpad_down) { - robot.whiteArmRiser.setPower(1); + robot.whiteArmRiser.setPower(-0.5); } } // nothing pressed nothing move... @@ -246,7 +246,7 @@ public class TeleOpState extends CyberarmState { robot.collectorWhite.setPower(0); } else { whiteCollectorToggle = true; - robot.collectorWhite.setPower(1); + robot.collectorWhite.setPower(-1); } break; case "right_bumper": @@ -255,7 +255,7 @@ public class TeleOpState extends CyberarmState { robot.collectorWhite.setPower(0); } else { whiteCollectorToggle = true; - robot.collectorWhite.setPower(-1); + robot.collectorWhite.setPower(1); } break; case "guide":