TimeCrafters/FreightFrenzy
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need to add a toggle so that we can switch or invert the direction that the arm orbits.

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This commit is contained in:
Spencer
2021-11-27 14:40:04 -06:00
parent 7df503d7c5
commit 9efd0ffcad
2 changed files with 134 additions and 56 deletions
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2
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
View File

@@ -209,7 +209,7 @@ public class Robot {
private void initCollector() {
orangeArmBobbin = engine.hardwareMap.dcMotor.get("orangeArmBobbin");
orangeDispenser = engine.hardwareMap.servo.get("orangeDispenser");
orangeArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
orangeArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
turretServoOrange = engine.hardwareMap.crservo.get("turretServoOrange");
orangeArmRiser = engine.hardwareMap.dcMotor.get("orangeArmRiser");
orangeArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);

188
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -1,6 +1,8 @@
package org.timecrafters.FreightFrenzy.Competition.TeleOp.States;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
@@ -8,22 +10,25 @@ import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class TeleOpState extends CyberarmState {
Robot robot;
double maxDriveSpeed, maxCollectorArmSpeed, maxDepositorArmSpeed;
int maxArmTravelDistance;
int maxArmTravelDistance, minArmTravelDistance;
boolean armLimitToggle = false, orangeCollectorToggle = false, whiteCollectorToggle = false;
boolean allianceRed = true;
public TeleOpState(Robot robot) {
this.robot = robot;
maxDriveSpeed = 1;
maxCollectorArmSpeed = 1;
maxDepositorArmSpeed = 1;
minArmTravelDistance = 0;
maxArmTravelDistance = 4000;
}
@Override
public void start() {
super.start();
// FIXME: Don't reset when doing autonomous stuff
// FIXME: Fix unable to retract if reset mid-match
robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -55,7 +60,7 @@ public class TeleOpState extends CyberarmState {
robot.orangeArmBobbin.setPower(engine.gamepad1.left_trigger * maxDepositorArmSpeed);
} else {
if (engine.gamepad1.left_trigger <= 0 && robot.orangeArmBobbin.getCurrentPosition() >= 0) {
if (engine.gamepad1.left_trigger <= 0 && robot.orangeArmBobbin.getCurrentPosition() >= minArmTravelDistance) {
robot.orangeArmBobbin.setPower(-engine.gamepad1.right_trigger * maxDepositorArmSpeed);
} else {
robot.orangeArmBobbin.setPower(0);
@@ -65,7 +70,7 @@ 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 || engine.gamepad1.dpad_left) {
if (engine.gamepad1.dpad_right) {
robot.turretServoOrange.setPower(-1);
@@ -75,11 +80,11 @@ public class TeleOpState extends CyberarmState {
robot.turretServoOrange.setPower(1);
}
}
// if neither of these buttons... power off
else {
robot.turretServoOrange.setPower(0);
}
}*/
turretOrbitControl(engine.gamepad1, robot.turretServoOrange, allianceRed);
// if dpad verticles pressed arm rises or lowers...
if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
@@ -97,22 +102,6 @@ public class TeleOpState extends CyberarmState {
robot.orangeArmRiser.setPower(0);
}
// if bumpers pressed intake wheel move...
if (engine.gamepad1.right_bumper || engine.gamepad1.left_bumper) {
if (engine.gamepad1.right_bumper) {
robot.collectorOrange.setPower(1);
}
if (engine.gamepad1.left_bumper) {
robot.collectorOrange.setPower(-1);
}
}
// no bumpers pressed no wheel move...
else {
robot.collectorOrange.setPower(0);
}
// button x pressed carousel wheel move.
if (engine.gamepad1.x){
@@ -130,7 +119,7 @@ public class TeleOpState extends CyberarmState {
robot.whiteArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);
} else {
if (engine.gamepad2.left_trigger <= 0 && robot.whiteArmBobbin.getCurrentPosition() >= 0) {
if (engine.gamepad2.left_trigger <= 0 && robot.whiteArmBobbin.getCurrentPosition() >= minArmTravelDistance) {
robot.whiteArmBobbin.setPower(-engine.gamepad2.right_trigger * maxDepositorArmSpeed);
} else {
robot.whiteArmBobbin.setPower(0);
@@ -151,21 +140,21 @@ public class TeleOpState extends CyberarmState {
// 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);
}
// 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, allianceRed);
// if dpad verticles pressed arm rises or lowers
if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
@@ -181,27 +170,116 @@ public class TeleOpState extends CyberarmState {
else {
robot.whiteArmRiser.setPower(0);
}
if (engine.gamepad2.left_bumper || engine.gamepad2.right_bumper) {
if (engine.gamepad2.left_bumper) {
robot.collectorWhite.setPower(-1);
}
if (engine.gamepad2.right_bumper) {
robot.collectorWhite.setPower(1);
}
}
else {
robot.collectorWhite.setPower(0);
}
}
@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);
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
// this is a toggle of a limit for arm extension in the case of the robot crashes
// in the middle of the game we can bring the arm back in and extend and reset its position.
System.out.println("GamePad: " + gamepad.getGamepadId() + " Button: " + button);
if (button.equals("y")) {
System.out.println("Y has been pressed! (" + armLimitToggle + ")");
if (!armLimitToggle) {
armLimitToggle = true;
minArmTravelDistance = -8500;
maxArmTravelDistance = 8500;
} else {
armLimitToggle = false;
minArmTravelDistance = 0;
maxArmTravelDistance = 4000;
robot.orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.orangeArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
}
if (gamepad == engine.gamepad1) {
switch (button) {
case "left_bumper":
if (orangeCollectorToggle) {
orangeCollectorToggle = false;
robot.collectorOrange.setPower(0);
} else {
orangeCollectorToggle = true;
robot.collectorOrange.setPower(1);
}
break;
case "right_bumper":
if (orangeCollectorToggle) {
orangeCollectorToggle = false;
robot.collectorOrange.setPower(0);
} else {
orangeCollectorToggle = true;
robot.collectorOrange.setPower(-1);
}
break;
}
}
if (gamepad == engine.gamepad2) {
switch (button) {
case "left_bumper":
if (whiteCollectorToggle) {
whiteCollectorToggle = false;
robot.collectorWhite.setPower(0);
} else {
whiteCollectorToggle = true;
robot.collectorWhite.setPower(1);
}
break;
case "right_bumper":
if (whiteCollectorToggle) {
whiteCollectorToggle = false;
robot.collectorWhite.setPower(0);
} else {
whiteCollectorToggle = true;
robot.collectorWhite.setPower(-1);
}
break;
}
}
}
private void turretOrbitControl (Gamepad gamepad, CRServo turretServo, boolean bias){
// if either of these buttons... move the servo
// turretServo1 = orange
if (gamepad.dpad_right || gamepad.dpad_left) {
if (bias) {
if (gamepad.dpad_right) {
turretServo.setPower(-1);
}
if (gamepad.dpad_left) {
turretServo.setPower(1);
}
} else {
if (gamepad.dpad_right) {
turretServo.setPower(1);
}
if (gamepad.dpad_left) {
turretServo.setPower(-1);
}
}
} else {
turretServo.setPower(0);
}
}
}