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
2021-11-13 19:58:05 -06:00
parent 228729c192
commit cf77c481ea
2 changed files with 94 additions and 11 deletions
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13
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
View File

@@ -78,13 +78,14 @@ public class Robot {
// Collector
public Servo collectorDispenser;
public CRServo turretServo1;
// Depositor
public Servo depositorDispenser;
// Depositor, and carousel
public CRServo turretServo2, carouselWheel, collectorOrange, collectorWhite;
public CRServo turretServo2;
public Robot(CyberarmEngine engine) {
this.engine = engine;
@@ -210,6 +211,9 @@ public class Robot {
collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser");
collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
collectorOrange = engine.hardwareMap.crservo.get("collectorOrange");
}
private void initDepositor(){
@@ -217,10 +221,13 @@ public class Robot {
depositorArmBobbin = engine.hardwareMap.dcMotor.get("depositorArmBobbin");
depositorArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser");
depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
collectorWhite = engine.hardwareMap.crservo.get("collectorWhite");
}
private void initCarousel() {
carouselWheel = engine.hardwareMap.crservo.get("carouselWheel");
}
private void initVuforia() {

92
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -32,7 +32,7 @@ public class TeleOpState extends CyberarmState {
robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
// dispenser powered
if (engine.gamepad1.right_bumper){
if (engine.gamepad1.b){
robot.collectorDispenser.setPosition(.5);
}
@@ -40,14 +40,14 @@ public class TeleOpState extends CyberarmState {
else {
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);
if (engine.gamepad1.right_trigger <= 0){
robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
}
// if either of these buttons move the servo
// if either of these buttons... move the servo
// turretServo1 = orange
if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
@@ -59,11 +59,53 @@ public class TeleOpState extends CyberarmState {
robot.turretServo1.setPower(-1);
}
}
// if neither of these buttons power off
// if neither of these buttons... power off
else {
robot.turretServo1.setPower(0);
}
// if dpad verticles pressed arm rises or lowers...
if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
if (engine.gamepad1.dpad_up) {
robot.collectorArmRiser.setPower(1);
}
if (engine.gamepad1.dpad_down) {
robot.collectorArmRiser.setPower(-1);
}
}
// nothing pressed nothing move...
else {
robot.collectorArmRiser.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){
robot.carouselWheel.setPower(1);
}
else {
robot.carouselWheel.setPower(0);
}
// GamePad 2
@@ -74,13 +116,14 @@ public class TeleOpState extends CyberarmState {
robot.depositorArmBobbin.setPower(-engine.gamepad2.left_trigger * maxDepositorArmSpeed);
}
if (engine.gamepad2.left_bumper){
// if b is pressed then depositor door opens, if not pressed not opening.
if (engine.gamepad2.b){
robot.depositorDispenser.setPosition(.5);
} else {
robot.depositorDispenser.setPosition(0);
}
else {
robot.depositorDispenser.setPosition(0);
}
// if either of these buttons move the servo
// turretServo2 = white
@@ -99,9 +142,42 @@ public class TeleOpState extends CyberarmState {
robot.turretServo2.setPower(0);
}
// if dpad verticles pressed arm rises or lowers
if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
if (engine.gamepad2.dpad_up) {
robot.depositorArmRiser.setPower(1);
}
if (engine.gamepad2.dpad_down) {
robot.depositorArmRiser.setPower(-1);
}
}
// nothing pressed nothing move...
else {
robot.depositorArmRiser.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);
}
}
}