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added configuration

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Spencer
2021-12-05 16:04:35 -06:00
parent 1944e3c57b
commit 9532b9e8af
10 changed files with 141 additions and 72 deletions
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2
TC_Config/FreightFrenzy.json
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@@ -1 +1 @@
{"config":{"created_at":"2021-12-02 19:33:56 -0600","updated_at":"2021-12-02 20:11:14 -0600","spec_version":2,"revision":38},"data":{"groups":[{"name":"autonomous","actions":[{"name":"01_0","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx1"},{"name":"time","value":"Lx3"}]},{"name":"02_0","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx0.75"},{"name":"targetPosition","value":"Ix3000"},{"name":"tolerance","value":"Ix150"}]},{"name":"03_0","comment":"Depositor Door","enabled":true,"variables":[{"name":"TargetPosition","value":"Dx0.5"},{"name":"time","value":"Lx1"}]},{"name":"04_0","comment":"Depositor Door","enabled":true,"variables":[{"name":"TargetPosition","value":"Dx0"},{"name":"time","value":"Lx0"}]},{"name":"05_0","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx1"},{"name":"targetPosition","value":"Ix0"},{"name":"tolerance","value":"Ix150"}]},{"name":"06_0","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx-1"},{"name":"time","value":"Lx3"}]},{"name":"07_0","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1500"},{"name":"distanceRight","value":"Ix1500"},{"name":"powerLeft","value":"Dx1"},{"name":"powerRight","value":"Dx1"}]},{"name":"08_0","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1500"},{"name":"distanceRight","value":"Ix500"},{"name":"powerLeft","value":"Dx1"},{"name":"powerRight","value":"Dx0.75"}]}]}],"presets":{"groups":[],"actions":[{"name":"DepositorDoor","comment":"Depositor Door","enabled":true,"variables":[{"name":"TargetPosition","value":"Dx0.5"},{"name":"time","value":"Lx1"}]},{"name":"DriveState","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1500"},{"name":"distanceRight","value":"Ix500"},{"name":"powerLeft","value":"Dx1"},{"name":"powerRight","value":"Dx0.75"}]},{"name":"TurretArmExtension","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx0.75"},{"name":"targetPosition","value":"Ix3000"},{"name":"tolerance","value":"Ix150"}]},{"name":"TurretOrbit","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx1"},{"name":"time","value":"Lx3"}]}]}}}
{"config":{"created_at":"2021-12-02 19:33:56 -0600","updated_at":"2021-12-05 15:55:06 -0600","spec_version":2,"revision":95},"data":{"groups":[{"name":"RedWarehouseAutonomous","actions":[{"name":"01_0","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx-1"},{"name":"time","value":"Dx3"}]},{"name":"02_0","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx0.75"},{"name":"targetPosition","value":"Ix3000"},{"name":"tolerance","value":"Ix300"}]},{"name":"03_0","comment":"Depositor Door","enabled":true,"variables":[{"name":"power","value":"Ix1"},{"name":"time","value":"Dx1000"}]},{"name":"04_0","comment":"Depositor Door","enabled":true,"variables":[{"name":"power","value":"Ix0"},{"name":"time","value":"Dx0"}]},{"name":"05_0","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx1"},{"name":"targetPosition","value":"Ix-2700"},{"name":"tolerance","value":"Ix150"}]},{"name":"06_0","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx-1"},{"name":"time","value":"Dx3.0"}]},{"name":"07_0","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1250"},{"name":"distanceRight","value":"Ix1250"},{"name":"powerLeft","value":"Dx1"},{"name":"powerRight","value":"Dx1"}]},{"name":"08_0","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1000"},{"name":"distanceRight","value":"Ix1000"},{"name":"powerLeft","value":"Dx0.5"},{"name":"powerRight","value":"Dx-0.5"}]},{"name":"09_0","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix2500"},{"name":"distanceRight","value":"Ix2500"},{"name":"powerLeft","value":"Dx0.75"},{"name":"powerRight","value":"Dx0.75"}]}]}],"presets":{"groups":[],"actions":[{"name":"DepositorDoor","comment":"Depositor Door","enabled":true,"variables":[{"name":"TargetPosition","value":"Dx0.5"},{"name":"time","value":"Dx1"}]},{"name":"DriveState","comment":"Drive State","enabled":true,"variables":[{"name":"distanceLeft","value":"Ix1500"},{"name":"distanceRight","value":"Ix500"},{"name":"powerLeft","value":"Dx1"},{"name":"powerRight","value":"Dx0.75"}]},{"name":"TurretArmExtension","comment":"Turret Arm Extension","enabled":true,"variables":[{"name":"power","value":"Dx0.75"},{"name":"targetPosition","value":"Ix3000"},{"name":"tolerance","value":"Ix150"}]},{"name":"TurretOrbit","comment":"turret rotation (;","enabled":true,"variables":[{"name":"power","value":"Dx1"},{"name":"time","value":"Dx3"}]}]}}}

40
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java
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@@ -1,25 +1,53 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.CollectorToggle;
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;
@Autonomous (name = "Red WareHouse", group = "red")
public class RedWarehouseEngine extends CyberarmEngine {
Robot robot;
@Override
public void setup() {
Robot robot = new Robot(this);
this.robot = new Robot(this);
addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "01_0"));
addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "RedWarehouseAutonomous", "01_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0"));
addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "03_0"));
addState(new DepositorDoor(robot, robot.whiteDispenser, "RedWarehouseAutonomous", "04_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "03_0"));
addState(new CollectorToggle(robot, robot.collectorWhite, "RedWarehouseAutonomous", "04_0"));
addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "05_0"));
addState(new TurretOrbit(robot, robot.turretServoWhite, "RedWarehouseAutonomous", "06_0"));
addState(new DriveState(robot,"RedWarehouseAutonomous", "07_0"));
addState(new DriveState(robot, "RedWarehouseAutonomous", "08_0"));
addState(new DriveState(robot, "RedWarehouseAutonomous", "09_0"));
}
public void loop() {
super.loop();
telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
telemetry.addData("White Riser Arm", robot.whiteArmRiser.getCurrentPosition());
telemetry.addData("white Turret Switch", robot.whiteMag.isPressed());
telemetry.addData("white Turret orbit Power", robot.turretServoWhite.getPower());
telemetry.addData("White Door Position", robot.whiteDispenser.getPosition());
telemetry.addLine();
telemetry.addData("Orange Riser Arm", robot.orangeArmRiser.getCurrentPosition());
telemetry.addData("orange arm extension", robot.orangeArmBobbin.getCurrentPosition());
telemetry.addData("orange Turret Switch", robot.orangeMag.isPressed());
telemetry.addData("orange Turret Orbit Power", robot.turretServoOrange.getPower());
telemetry.addData("Orange Door Position", robot.orangeDispenser.getPosition());
telemetry.addLine();
telemetry.addData("driveWarehouseLeft", robot.driveWarehouseLeft.getCurrentPosition());
telemetry.addData("driveWarehouseRight", robot.driveWarehouseRight.getCurrentPosition());
telemetry.addData("driveGoalLeft", robot.driveGoalLeft.getCurrentPosition());
telemetry.addData("driveGoalRight", robot.driveGoalRight.getCurrentPosition());
}
}

28
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java
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@@ -4,32 +4,38 @@ import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
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;
double time;
CRServo servo;
int mode;
int power;
public CollectorToggle(CRServo servo, int mode) {
public CollectorToggle(Robot robot, CRServo servo, String groupName, String actionName) {
this.servo = servo;
this.mode = mode;
this.power = robot.configuration.variable(groupName, actionName, "power").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value();
}
@Override
public void exec() {
if (mode == MODE_REVERSE){
servo.setPower(-1);
}
servo.setPower(power);
else if (mode == MODE_COLLECT){
servo.setPower(1);
}
if (runTime() >= time){
else {
servo.setPower(0);
setHasFinished(true);
}
}
@Override
public void telemetry() {
engine.telemetry.addData("runtime", runTime());
engine.telemetry.addData("time", time);
}
}

15
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java
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@@ -7,7 +7,8 @@ import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class DriveState extends CyberarmState {
Robot robot;
double distanceLeft, distanceRight, powerLeft, powerRight;
int distanceLeft, distanceRight;
double powerLeft, powerRight;
public DriveState(Robot robot, String groupName, String actionName) {
this.robot = robot;
@@ -32,7 +33,8 @@ public class DriveState extends CyberarmState {
@Override
public void exec() {
if (Math.abs(robot.driveGoalLeft.getCurrentPosition()) >= distanceLeft && Math.abs(robot.driveGoalRight.getCurrentPosition()) >= distanceRight) {
if (Math.abs(robot.driveGoalLeft.getCurrentPosition()) >= distanceLeft &&
Math.abs(robot.driveGoalRight.getCurrentPosition()) >= distanceRight) {
robot.driveGoalLeft.setPower(0);
robot.driveGoalRight.setPower(0);
robot.driveWarehouseRight.setPower(0);
@@ -45,6 +47,15 @@ public class DriveState extends CyberarmState {
robot.driveWarehouseLeft.setPower(powerLeft);
}
}
@Override
public void telemetry() {
engine.telemetry.addData("distance left", distanceLeft);
engine.telemetry.addData("distance right", distanceRight);
engine.telemetry.addData("power left", powerLeft);
engine.telemetry.addData("power Right", powerRight);
}
}

15
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/FaceState.java
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@@ -1,5 +1,7 @@
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;
@@ -13,6 +15,19 @@ public class FaceState extends CyberarmState {
this.power = power;
}
@Override
public void start() {
robot.driveGoalLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.driveGoalRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.driveWarehouseLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.driveWarehouseRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.driveGoalLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.driveGoalRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.driveWarehouseLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.driveWarehouseRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
public void exec() {
robot.updateRobotOrientation();

10
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java
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@@ -20,13 +20,19 @@ public class TurretArmExtension extends CyberarmState {
this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
}
@Override
public void start() {
motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
public void exec() {
if (motor.getCurrentPosition() < targetPosition + tolerance){
if (motor.getCurrentPosition() < targetPosition - tolerance){
motor.setPower(power);
}
else if (motor.getCurrentPosition() > targetPosition - tolerance){
else if (motor.getCurrentPosition() > targetPosition + tolerance){
motor.setPower(-power);
}
else {

10
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java
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@@ -20,13 +20,19 @@ public class TurretArmRiser extends CyberarmState {
this.tolerance = tolerance;
}
@Override
public void start() {
motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
public void exec() {
if (motor.getCurrentPosition() < targetPosition + tolerance){
if (motor.getCurrentPosition() < targetPosition - tolerance){
motor.setPower(power);
}
else if (motor.getCurrentPosition() > targetPosition - tolerance){
else if (motor.getCurrentPosition() > targetPosition + tolerance){
motor.setPower(-power);
}
else {

22
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java
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@@ -1,5 +1,6 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
import com.qualcomm.hardware.rev.RevTouchSensor;
import com.qualcomm.robotcore.hardware.CRServo;
import org.cyberarm.engine.V2.CyberarmState;
@@ -10,24 +11,25 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Act
public class TurretOrbit extends CyberarmState {
private Robot robot;
private CRServo servo;
private long time;
private double time;
private double power;
public TurretOrbit(Robot robot, CRServo servo, String groupName, String actionName) {
private RevTouchSensor magnetSwitch;
public TurretOrbit(Robot robot, CRServo servo, RevTouchSensor magnetSwitch, String groupName, String actionName) {
this.robot = robot;
this.servo = servo;
this.time = robot.configuration.variable(groupName, actionName, "time").value();
this. power = robot.configuration.variable(groupName, actionName, "power").value();
this. magnetSwitch = magnetSwitch;
}
@Override
public void exec() {
if (runTime() < time) {
servo.setPower(power);
}
else {
servo.setPower(0);
setHasFinished(true);
}
if (magnetSwitch.isPressed() || runTime() < time ){
servo.setPower(0);
setHasFinished(true);
}
else {
servo.setPower(power);
}
}
}

10
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
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@@ -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.hardware.rev.RevTouchSensor;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -69,6 +70,8 @@ public class Robot {
// Sensors
public BNO055IMU imu;
public RevTouchSensor whiteMag;
public RevTouchSensor orangeMag;
// Drivetrain
public static final double WHEEL_CIRCUMFERENCE = Math.PI * 8;
@@ -90,7 +93,7 @@ public class Robot {
public Robot(CyberarmEngine engine) {
this.engine = engine;
initMagnetSwitches();
initConfiguration();
initBlinkin();
initIMU();
@@ -102,6 +105,11 @@ public class Robot {
// initTensorflow();
}
private void initMagnetSwitches() {
whiteMag = engine.hardwareMap.get(RevTouchSensor.class, "whiteMag");
orangeMag = engine.hardwareMap.get(RevTouchSensor.class, "orangeMag");
}
public double heading() {
return orientation.firstAngle;
}

61
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
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@@ -68,22 +68,6 @@ public class TeleOpState extends CyberarmState {
}
// 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.turretServoOrange.setPower(-1);
}
if (engine.gamepad1.dpad_left) {
robot.turretServoOrange.setPower(1);
}
}
// if neither of these buttons... power off
else {
robot.turretServoOrange.setPower(0);
}*/
turretOrbitControl(engine.gamepad1, robot.turretServoOrange, allianceRedDriver1);
// if dpad verticles pressed arm rises or lowers...
@@ -138,22 +122,7 @@ public class TeleOpState extends CyberarmState {
robot.whiteDispenser.setPosition(0);
}
// 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.turretServoWhite.setPower(-1);
// }
//
// if (engine.gamepad2.dpad_left) {
// robot.turretServoWhite.setPower(1);
// }
// }
// // if neither of these buttons power off
// else {
// robot.turretServoWhite.setPower(0);
// }
turretOrbitControl(engine.gamepad2, robot.turretServoWhite, allianceRedDriver2);
// if dpad verticles pressed arm rises or lowers
if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
@@ -175,13 +144,31 @@ public class TeleOpState extends CyberarmState {
@Override
public void telemetry() {
engine.telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
engine.telemetry.addData("orange arm extension", robot.orangeArmBobbin.getCurrentPosition());
engine.telemetry.addData("arm limit toggle", armLimitToggle);
engine.telemetry.addData("collector toggle orange", orangeCollectorToggle);
engine.telemetry.addData("collector toggle white", whiteCollectorToggle);
engine.telemetry.addData("driver A turret inverted", allianceRedDriver1);
engine.telemetry.addData("driver B turret inverted", allianceRedDriver2);
engine.telemetry.addLine();
engine.telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
engine.telemetry.addData("White Riser Arm", robot.whiteArmRiser.getCurrentPosition());
engine.telemetry.addData("white collector toggle ", whiteCollectorToggle);
engine.telemetry.addData("white Turret Switch", robot.whiteMag.isPressed());
engine.telemetry.addData("white Turret orbit Power", robot.turretServoWhite.getPower());
engine.telemetry.addData("White Door Position", robot.whiteDispenser.getPosition());
engine.telemetry.addLine();
engine.telemetry.addData("Orange Riser Arm", robot.orangeArmRiser.getCurrentPosition());
engine.telemetry.addData("orange arm extension", robot.orangeArmBobbin.getCurrentPosition());
engine.telemetry.addData("orange collector toggle ", orangeCollectorToggle);
engine.telemetry.addData("orange Turret Switch", robot.orangeMag.isPressed());
engine.telemetry.addData("orange Turret Orbit Power", robot.turretServoOrange.getPower());
engine.telemetry.addData("Orange Door Position", robot.orangeDispenser.getPosition());
engine.telemetry.addLine();
engine.telemetry.addData("driveWarehouseLeft", robot.driveWarehouseLeft.getCurrentPosition());
engine.telemetry.addData("driveWarehouseRight", robot.driveWarehouseRight.getCurrentPosition());
engine.telemetry.addData("driveGoalLeft", robot.driveGoalLeft.getCurrentPosition());
engine.telemetry.addData("driveGoalRight", robot.driveGoalRight.getCurrentPosition());
}
@Override