TimeCrafters/FreightFrenzy
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added configuration

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This commit is contained in:
Spencer
2021-12-04 16:32:28 -06:00
parent ee4e05f28d
commit 1944e3c57b
4 changed files with 20 additions and 20 deletions
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16
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
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@@ -12,14 +12,14 @@ public class RedWarehouseEngine extends CyberarmEngine {
public void setup() { public void setup() {
Robot robot = new Robot(this); Robot robot = new Robot(this);
addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0")); addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "01_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "02_0")); addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0"));
addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "03_0")); addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "03_0"));
addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "04_0")); addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "04_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "05_0")); addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "05_0"));
addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0")); addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "06_0"));
addState(new DriveState(robot, 1500, 500, 1, .75)); addState(new DriveState(robot,"RedWarehouseAutonomous", "07_0"));
addState(new DriveState(robot, 1500, 1500, 1, 1)); addState(new DriveState(robot, "RedWarehouseAutonomous", "08_0"));
} }
} }

10
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java
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@@ -9,12 +9,12 @@ public class DriveState extends CyberarmState {
Robot robot; Robot robot;
double distanceLeft, distanceRight, powerLeft, powerRight; 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.robot = robot;
this.distanceLeft = distanceLeft; this.distanceLeft = robot.configuration.variable(groupName, actionName, "distanceLeft").value();
this.distanceRight = distanceRight; this.distanceRight = robot.configuration.variable(groupName, actionName, "distanceRight").value();
this.powerLeft = powerLeft; this.powerLeft = robot.configuration.variable(groupName, actionName, "powerLeft").value();
this.powerRight = powerRight; this.powerRight = robot.configuration.variable(groupName, actionName, "powerRight").value();
} }
@Override @Override

2
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java
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@@ -1,5 +1,5 @@
package org.timecrafters.FreightFrenzy.Competition.TeleOp.Engines; package org.timecrafters.FreightFrenzy.Competition.TeleOp.Engines;
//adb connect 192.168.43.1
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;

12
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
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@@ -90,11 +90,11 @@ public class TeleOpState extends CyberarmState {
if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) { if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
if (engine.gamepad1.dpad_up) { if (engine.gamepad1.dpad_up) {
robot.orangeArmRiser.setPower(1); robot.orangeArmRiser.setPower(0.8);
} }
if (engine.gamepad1.dpad_down) { if (engine.gamepad1.dpad_down) {
robot.orangeArmRiser.setPower(-1); robot.orangeArmRiser.setPower(-0.5);
} }
} }
// nothing pressed nothing move... // 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_down || engine.gamepad2.dpad_up) {
if (engine.gamepad2.dpad_up) { if (engine.gamepad2.dpad_up) {
robot.whiteArmRiser.setPower(-1); robot.whiteArmRiser.setPower(8);
} }
if (engine.gamepad2.dpad_down) { if (engine.gamepad2.dpad_down) {
robot.whiteArmRiser.setPower(1); robot.whiteArmRiser.setPower(-0.5);
} }
} }
// nothing pressed nothing move... // nothing pressed nothing move...
@@ -246,7 +246,7 @@ public class TeleOpState extends CyberarmState {
robot.collectorWhite.setPower(0); robot.collectorWhite.setPower(0);
} else { } else {
whiteCollectorToggle = true; whiteCollectorToggle = true;
robot.collectorWhite.setPower(1); robot.collectorWhite.setPower(-1);
} }
break; break;
case "right_bumper": case "right_bumper":
@@ -255,7 +255,7 @@ public class TeleOpState extends CyberarmState {
robot.collectorWhite.setPower(0); robot.collectorWhite.setPower(0);
} else { } else {
whiteCollectorToggle = true; whiteCollectorToggle = true;
robot.collectorWhite.setPower(-1); robot.collectorWhite.setPower(1);
} }
break; break;
case "guide": case "guide":