TimeCrafters/FreightFrenzy
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Spencer
2021-11-04 20:32:57 -05:00
parent 4064e07463
commit a5be174760
5 changed files with 129 additions and 9 deletions
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14
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java Normal file
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@@ -0,0 +1,14 @@
package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class RedWarehouseEngine extends CyberarmEngine {
@Override
public void setup() {
Robot robot = new Robot(this);
addState(new DriveState(robot, 2000, 2000,.25,.25));
}
}

50
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DriveState.java Normal file
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@@ -0,0 +1,50 @@
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;
public class DriveState extends CyberarmState {
Robot robot;
double distanceLeft, distanceRight, powerLeft, powerRight;
public DriveState(Robot robot, double distanceLeft, double distanceRight, double powerLeft, double powerRight) {
this.robot = robot;
this.distanceLeft = distanceLeft;
this.distanceRight = distanceRight;
this.powerLeft = powerLeft;
this.powerRight = powerRight;
}
@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() {
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);
robot.driveWarehouseLeft.setPower(0);
setHasFinished(true);
} else {
robot.driveGoalLeft.setPower(powerLeft);
robot.driveGoalRight.setPower(powerRight);
robot.driveWarehouseRight.setPower(powerRight);
robot.driveWarehouseLeft.setPower(powerLeft);
}
}
}

21
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
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@@ -72,15 +72,16 @@ public class Robot {
public static final double WHEEL_CIRCUMFERENCE = Math.PI * 8;
public static final int COUNTS_PER_REVOLUTION = 1000;
public DcMotor driveFrontLeft, driveFrontRight, driveBackLeft, driveBackRight;
public DcMotor driveWarehouseLeft, driveWarehouseRight, driveGoalLeft, driveGoalRight,
collectorArmRiser, collectorArmBobbin, depositorArmRiser, depositorArmBobbin;
// Collector
public DcMotor collectorBobbin;
public Servo collectorDoor;
public Servo collectorDispenser;
// Depositor
public DcMotor depositorBobbin;
public Servo depositorDoor;
public Servo depositorDispenser;
public Robot(CyberarmEngine engine) {
this.engine = engine;
@@ -189,20 +190,22 @@ public class Robot {
}
private void initDrivetrain() {
driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
driveWarehouseRight = engine.hardwareMap.dcMotor.get("driveWarehouseRight");
driveWarehouseLeft = engine.hardwareMap.dcMotor.get("driveWarehouseLeft");
driveGoalRight = engine.hardwareMap.dcMotor.get("driveGoalRight");
driveGoalLeft = engine.hardwareMap.dcMotor.get("driveGoalLeft");
driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
driveWarehouseLeft.setDirection(DcMotorSimple.Direction.REVERSE);
driveGoalLeft.setDirection(DcMotorSimple.Direction.REVERSE);
}
private void initCollector() {
collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
}
private void initDepositor(){
depositorDispenser = engine.hardwareMap.servo.get("depositorDispenser");
}

12
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/Engines/TeleOpEngine.java Normal file
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@@ -0,0 +1,12 @@
package org.timecrafters.FreightFrenzy.Competition.TeleOp.Engines;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
import org.timecrafters.FreightFrenzy.Competition.TeleOp.States.TeleOpState;
public class TeleOpEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new TeleOpState(new Robot(this)));
}
}

41
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java Normal file
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@@ -0,0 +1,41 @@
package org.timecrafters.FreightFrenzy.Competition.TeleOp.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
public class TeleOpState extends CyberarmState {
Robot robot;
double maxDriveSpeed;
public TeleOpState(Robot robot) {
this.robot = robot;
maxDriveSpeed = 0.7;
}
@Override
public void start() {
super.start();
}
@Override
public void exec() {
robot.driveWarehouseLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
robot.driveGoalLeft.setPower(-engine.gamepad1.left_stick_y * maxDriveSpeed);
robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
if (engine.gamepad1.left_bumper){
robot.depositorDispenser.setPosition(.5);
} else {
robot.depositorDispenser.setPosition(0);
}
if (engine.gamepad1.right_bumper){
robot.collectorDispenser.setPosition(.5);
} else {
robot.collectorDispenser.setPosition(0);
}
}
}