From 7332fe8a72bff059060bc426648656f051b0753b Mon Sep 17 00:00:00 2001 From: Spencer Date: Thu, 2 Dec 2021 20:29:11 -0600 Subject: [PATCH] started working on configuration --- .../Autonomous/Engines/RedWarehouseEngine.java | 12 ++++++------ .../Competition/Autonomous/States/DepositorDoor.java | 7 ++++--- .../Autonomous/States/TurretArmExtension.java | 8 ++++---- .../Competition/Autonomous/States/TurretOrbit.java | 8 +++++--- 4 files changed, 19 insertions(+), 16 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 ddafd37..f908f24 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 @@ -12,12 +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)); diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java index 9cc9e48..1203485 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java @@ -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 diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java index fb06799..4db76d0 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java @@ -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 diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java index 94e5328..7d31bcc 100644 --- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java +++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java @@ -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