TimeCrafters/FreightFrenzy
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added more functions to gamepad 1 and to gamepad 2, as well as adding more robot objects, should have every theoretical function that this robot should have to a button in tele op. first basic tele op iteration 1

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This commit is contained in:
Spencer
2021-11-14 14:41:03 -06:00
parent cf77c481ea
commit 7caa230822
2 changed files with 14 additions and 10 deletions
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2
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
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@@ -213,6 +213,7 @@ public class Robot {
turretServo1 = engine.hardwareMap.crservo.get("turretServo1"); turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser"); collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser");
collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD); collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
collectorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
collectorOrange = engine.hardwareMap.crservo.get("collectorOrange"); collectorOrange = engine.hardwareMap.crservo.get("collectorOrange");
} }
@@ -223,6 +224,7 @@ public class Robot {
turretServo2 = engine.hardwareMap.crservo.get("turretServo2"); turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser"); depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser");
depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD); depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
depositorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
collectorWhite = engine.hardwareMap.crservo.get("collectorWhite"); collectorWhite = engine.hardwareMap.crservo.get("collectorWhite");
} }

22
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -1,5 +1,7 @@
package org.timecrafters.FreightFrenzy.Competition.TeleOp.States; package org.timecrafters.FreightFrenzy.Competition.TeleOp.States;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot; import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
@@ -41,10 +43,10 @@ public class TeleOpState extends CyberarmState {
robot.collectorDispenser.setPosition(0); robot.collectorDispenser.setPosition(0);
} }
// if one of triggers pressed arm extends or unextends // if one of triggers pressed arm extends or unextends
robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed); robot.collectorArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed);
if (engine.gamepad1.right_trigger <= 0){ if (engine.gamepad1.left_trigger <= 0){
robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed); robot.collectorArmBobbin.setPower(-engine.gamepad1.right_trigger * maxCollectorArmSpeed);
} }
// if either of these buttons... move the servo // if either of these buttons... move the servo
@@ -52,11 +54,11 @@ public class TeleOpState extends CyberarmState {
if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) { if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
if (engine.gamepad1.dpad_right) { if (engine.gamepad1.dpad_right) {
robot.turretServo1.setPower(1); robot.turretServo1.setPower(-1);
} }
if (engine.gamepad1.dpad_left) { if (engine.gamepad1.dpad_left) {
robot.turretServo1.setPower(-1); robot.turretServo1.setPower(1);
} }
} }
@@ -110,10 +112,10 @@ public class TeleOpState extends CyberarmState {
// GamePad 2 // GamePad 2
// if triggers are pressed then arm extends or unextends // if triggers are pressed then arm extends or unextends
robot.depositorArmBobbin.setPower(engine.gamepad2.right_trigger * maxDepositorArmSpeed); robot.depositorArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);
if (engine.gamepad2.right_trigger <= 0) { if (engine.gamepad2.left_trigger <= 0) {
robot.depositorArmBobbin.setPower(-engine.gamepad2.left_trigger * maxDepositorArmSpeed); robot.depositorArmBobbin.setPower(-engine.gamepad2.right_trigger * maxDepositorArmSpeed);
} }
// if b is pressed then depositor door opens, if not pressed not opening. // if b is pressed then depositor door opens, if not pressed not opening.
@@ -130,11 +132,11 @@ public class TeleOpState extends CyberarmState {
if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) { if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) {
if (engine.gamepad2.dpad_right) { if (engine.gamepad2.dpad_right) {
robot.turretServo2.setPower(1); robot.turretServo2.setPower(-1);
} }
if (engine.gamepad2.dpad_left) { if (engine.gamepad2.dpad_left) {
robot.turretServo2.setPower(-1); robot.turretServo2.setPower(1);
} }
} }
// if neither of these buttons power off // if neither of these buttons power off