TimeCrafters/FreightFrenzy
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started working on configuration

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This commit is contained in:
Spencer
2021-12-02 20:29:11 -06:00
parent 6136b0a3b5
commit 7332fe8a72
4 changed files with 19 additions and 16 deletions
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12
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
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@@ -12,12 +12,12 @@ public class RedWarehouseEngine extends CyberarmEngine {
public void setup() {
Robot robot = new Robot(this);
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 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));

7
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java
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@@ -3,6 +3,7 @@ package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class DepositorDoor extends CyberarmState {
@@ -10,10 +11,10 @@ public class DepositorDoor extends CyberarmState {
double targetPosition;
long time;
public DepositorDoor(Servo servo, double targetPosition, long time) {
public DepositorDoor(Robot robot, Servo servo, String groupName, String actionName) {
this.servo = servo;
this.targetPosition = targetPosition;
this.time = time;
this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value();
}
@Override

8
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java
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@@ -12,12 +12,12 @@ public class TurretArmExtension extends CyberarmState {
private int targetPosition, tolerance;
private double power;
public TurretArmExtension(Robot robot, DcMotor motor, int targetPosition, double power, int tolerance) {
public TurretArmExtension(Robot robot, DcMotor motor, String groupName, String actionName) {
this.robot = robot;
this.motor = motor;
this.targetPosition = targetPosition;
this.power = power;
this.tolerance = tolerance;
this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
this.power = robot.configuration.variable(groupName, actionName, "power").value();
this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
}
@Override

8
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java
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@@ -4,6 +4,8 @@ import com.qualcomm.robotcore.hardware.CRServo;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Action;
public class TurretOrbit extends CyberarmState {
private Robot robot;
@@ -11,11 +13,11 @@ public class TurretOrbit extends CyberarmState {
private long time;
private double power;
public TurretOrbit(Robot robot, CRServo servo, long time, double power) {
public TurretOrbit(Robot robot, CRServo servo, String groupName, String actionName) {
this.robot = robot;
this.servo = servo;
this.time = time;
this. power = power;
this.time = robot.configuration.variable(groupName, actionName, "time").value();
this. power = robot.configuration.variable(groupName, actionName, "power").value();
}
@Override