TimeCrafters/FreightFrenzy
1
0
Fork 0
mirror of https://github.com/TimeCrafters/FreightFrenzy.git synced 2025-12-13 05:02:34 +00:00
Code Issues Projects Releases Wiki Activity

made auto draft, and started on vuforia/tensorflow state

Browse Source 
(:
This commit is contained in:
Spencer
2021-12-02 19:28:03 -06:00
parent 8f2f471667
commit 6136b0a3b5
6 changed files with 163 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
View File

@@ -1,7 +1,10 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DepositorDoor;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmExtension;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretOrbit;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class RedWarehouseEngine extends CyberarmEngine {
@@ -9,6 +12,14 @@ public class RedWarehouseEngine extends CyberarmEngine {
public void setup() {
Robot robot = new Robot(this);
addState(new DriveState(robot, 2000, 2000,1,1));
addState(new TurretOrbit(robot, robot.turretServoWhite, 3, 1));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, 3000, .75, 150));
addState(new DepositorDoor(robot.whiteDispenser, .5, 1));
addState(new DepositorDoor(robot.whiteDispenser, 0, 0));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, 0, 1, 150));
addState(new TurretOrbit(robot, robot.turretServoWhite, 3, -1));
addState(new DriveState(robot, 1500, 500, 1, .75));
addState(new DriveState(robot, 1500, 1500, 1, 1));
}
}

35
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java Normal file
View File

@@ -0,0 +1,35 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class CollectorToggle extends CyberarmState {
final static public int MODE_REVERSE = -1;
final static public int MODE_COLLECT = 1;
final static public int MODE_STOPPED = 0;
CRServo servo;
int mode;
public CollectorToggle(CRServo servo, int mode) {
this.servo = servo;
this.mode = mode;
}
@Override
public void exec() {
if (mode == MODE_REVERSE){
servo.setPower(-1);
}
else if (mode == MODE_COLLECT){
servo.setPower(1);
}
else {
servo.setPower(0);
}
}
}

29
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java Normal file
View File

@@ -0,0 +1,29 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class DepositorDoor extends CyberarmState {
Servo servo;
double targetPosition;
long time;
public DepositorDoor(Servo servo, double targetPosition, long time) {
this.servo = servo;
this.targetPosition = targetPosition;
this.time = time;
}
@Override
public void exec() {
if (runTime() < time) {
servo.setPosition(targetPosition);
}
else {
setHasFinished(true);
}
}
}

17
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java
View File

@@ -9,18 +9,29 @@ public class TurretArmExtension extends CyberarmState {
private Robot robot;
private DcMotor motor;
private int position;
private int targetPosition, tolerance;
private double power;
public TurretArmExtension(Robot robot, DcMotor motor, int position, double power) {
public TurretArmExtension(Robot robot, DcMotor motor, int targetPosition, double power, int tolerance) {
this.robot = robot;
this.motor = motor;
this.position = position;
this.targetPosition = targetPosition;
this.power = power;
this.tolerance = tolerance;
}
@Override
public void exec() {
if (motor.getCurrentPosition() < targetPosition + tolerance){
motor.setPower(power);
}
else if (motor.getCurrentPosition() > targetPosition - tolerance){
motor.setPower(-power);
}
else {
setHasFinished(true);
motor.setPower(0);
}
}
}

37
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java Normal file
View File

@@ -0,0 +1,37 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class TurretArmRiser extends CyberarmState {
private Robot robot;
private DcMotor motor;
private int targetPosition, tolerance;
private double power;
public TurretArmRiser(Robot robot, DcMotor motor, int targetPosition, double power, int tolerance) {
this.robot = robot;
this.motor = motor;
this.targetPosition = targetPosition;
this.power = power;
this.tolerance = tolerance;
}
@Override
public void exec() {
if (motor.getCurrentPosition() < targetPosition + tolerance){
motor.setPower(power);
}
else if (motor.getCurrentPosition() > targetPosition - tolerance){
motor.setPower(-power);
}
else {
setHasFinished(true);
motor.setPower(0);
}
}
}

36
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/VuforiaState.java Normal file
View File

@@ -0,0 +1,36 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class VuforiaState extends CyberarmState {
Robot robot;
public VuforiaState(Robot robot) {
this.robot = robot;
}
@Override
public void start() {
robot.activateVuforia();
robot.activateTensorflow();
}
@Override
public void exec() {
for (Recognition recognition : robot.tensorflowDetections()) {
}
}
@Override
public void telemetry() {
for (Recognition recognition : robot.tensorflowDetections()) {
engine.telemetry.addData("Label", recognition.getLabel());
engine.telemetry.addData("Left", recognition.getLeft());
engine.telemetry.addData("Top", recognition.getTop());
engine.telemetry.addData("Confidence", recognition.getConfidence());
}
}
}