TimeCrafters/FreightFrenzy
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added more functions to gamepad 1 and to gamepad 2, as well as adding more robot objects

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This commit is contained in:
Spencer
2021-11-13 16:04:50 -06:00
parent 4985a45d5f
commit 228729c192
2 changed files with 49 additions and 4 deletions
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8
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
View File

@@ -6,6 +6,7 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
@@ -78,9 +79,13 @@ public class Robot {
// Collector
public Servo collectorDispenser;
public CRServo turretServo1;
// Depositor
public Servo depositorDispenser;
public CRServo turretServo2;
public Robot(CyberarmEngine engine) {
this.engine = engine;
@@ -204,13 +209,14 @@ public class Robot {
collectorArmBobbin = engine.hardwareMap.dcMotor.get("collectorArmBobbin");
collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
}
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");
}
private void initCarousel() {

45
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -31,21 +31,43 @@ public class TeleOpState extends CyberarmState {
robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
// dispenser powered
if (engine.gamepad1.right_bumper){
robot.collectorDispenser.setPosition(.5);
} else {
robot.collectorDispenser.setPosition(0);
}
// if not pressed dispenser off
else {
robot.collectorDispenser.setPosition(0);
}
//if one of triggers pressed arm extends or unextends
robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed);
if (engine.gamepad1.right_trigger <= 0){
robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
}
// if either of these buttons move the servo
// turretServo1 = orange
if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
if (engine.gamepad1.dpad_right) {
robot.turretServo1.setPower(1);
}
if (engine.gamepad1.dpad_left) {
robot.turretServo1.setPower(-1);
}
}
// if neither of these buttons power off
else {
robot.turretServo1.setPower(0);
}
// GamePad 2
// if triggers are pressed then arm extends or unextends
robot.depositorArmBobbin.setPower(engine.gamepad2.right_trigger * maxDepositorArmSpeed);
if (engine.gamepad2.right_trigger <= 0) {
@@ -60,6 +82,23 @@ public class TeleOpState extends CyberarmState {
}
// if either of these buttons move the servo
// turretServo2 = white
if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) {
if (engine.gamepad2.dpad_right) {
robot.turretServo2.setPower(1);
}
if (engine.gamepad2.dpad_left) {
robot.turretServo2.setPower(-1);
}
}
// if neither of these buttons power off
else {
robot.turretServo2.setPower(0);
}
}