added configuration

(:

TC_Config/FreightFrenzy.json

@@ -0,0 +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"}]}]}}}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java

@@ -1,7 +1,10 @@
 package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
+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;
 
 public class RedWarehouseEngine extends CyberarmEngine {
@@ -9,6 +12,14 @@ public class RedWarehouseEngine extends CyberarmEngine {
     public void setup() {
         Robot robot = new Robot(this);
 
-        addState(new DriveState(robot, 2000, 2000,1,1));
+        addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0"));
+        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "02_0"));
+        addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "03_0"));
+        addState(new DepositorDoor(robot, robot.whiteDispenser, "autonomous", "04_0"));
+        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "autonomous", "05_0"));
+        addState(new TurretOrbit(robot, robot.turretServoWhite, "autonomous", "01_0"));
+        addState(new DriveState(robot, 1500, 500, 1, .75));
+        addState(new DriveState(robot, 1500, 1500, 1, 1));
+
     }
 }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java

@@ -0,0 +1,35 @@
+package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
+
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+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;
+
+    CRServo servo;
+    int mode;
+
+    public CollectorToggle(CRServo servo, int mode) {
+        this.servo = servo;
+        this.mode = mode;
+    }
+
+    @Override
+    public void exec() {
+        if (mode == MODE_REVERSE){
+            servo.setPower(-1);
+        }
+
+        else if (mode == MODE_COLLECT){
+            servo.setPower(1);
+        }
+
+        else {
+            servo.setPower(0);
+        }
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/DepositorDoor.java

@@ -0,0 +1,30 @@
+package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
+
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+public class DepositorDoor extends CyberarmState {
+
+    Servo servo;
+    double targetPosition;
+    long time;
+
+    public DepositorDoor(Robot robot, Servo servo, String groupName, String actionName) {
+        this.servo = servo;
+        this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
+        this.time = robot.configuration.variable(groupName, actionName, "time").value();
+    }
+
+    @Override
+    public void exec() {
+        if (runTime() < time) {
+            servo.setPosition(targetPosition);
+        }
+        else {
+            setHasFinished(true);
+        }
+
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java

@@ -9,18 +9,29 @@ public class TurretArmExtension extends CyberarmState {
 
     private Robot robot;
     private DcMotor motor;
-    private int position;
+    private int targetPosition, tolerance;
     private double power;
 
-    public TurretArmExtension(Robot robot, DcMotor motor, int position, double power) {
+    public TurretArmExtension(Robot robot, DcMotor motor, String groupName, String actionName) {
         this.robot = robot;
         this.motor = motor;
-        this.position = position;
+        this.targetPosition = robot.configuration.variable(groupName, actionName, "targetPosition").value();
-        this.power = power;
+        this.power = robot.configuration.variable(groupName, actionName, "power").value();
+        this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
     }
 
     @Override
     public void exec() {
+        if (motor.getCurrentPosition() < targetPosition + tolerance){
+            motor.setPower(power);
+        }
 
+        else if (motor.getCurrentPosition() > targetPosition - tolerance){
+            motor.setPower(-power);
+        }
+        else {
+            setHasFinished(true);
+            motor.setPower(0);
+        }
     }
 }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java

@@ -0,0 +1,37 @@
+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 TurretArmRiser extends CyberarmState {
+
+    private Robot robot;
+    private DcMotor motor;
+    private int targetPosition, tolerance;
+    private double power;
+
+    public TurretArmRiser(Robot robot, DcMotor motor, int targetPosition, double power, int tolerance) {
+        this.robot = robot;
+        this.motor = motor;
+        this.targetPosition = targetPosition;
+        this.power = power;
+        this.tolerance = tolerance;
+    }
+
+    @Override
+    public void exec() {
+        if (motor.getCurrentPosition() < targetPosition + tolerance){
+            motor.setPower(power);
+        }
+
+        else if (motor.getCurrentPosition() > targetPosition - tolerance){
+            motor.setPower(-power);
+        }
+        else {
+            setHasFinished(true);
+            motor.setPower(0);
+        }
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java

@@ -4,6 +4,8 @@ import com.qualcomm.robotcore.hardware.CRServo;
 
 import org.cyberarm.engine.V2.CyberarmState;
 import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Action;
 
 public class TurretOrbit extends CyberarmState {
     private Robot robot;
@@ -11,11 +13,11 @@ public class TurretOrbit extends CyberarmState {
     private long time;
     private double power;
 
-    public TurretOrbit(Robot robot, CRServo servo, long time, double power) {
+    public TurretOrbit(Robot robot, CRServo servo, String groupName, String actionName) {
         this.robot = robot;
         this.servo = servo;
-        this.time = time;
+        this.time = robot.configuration.variable(groupName, actionName, "time").value();
-        this. power = power;
+        this. power = robot.configuration.variable(groupName, actionName, "power").value();
     }
 
     @Override

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/VuforiaState.java

@@ -0,0 +1,36 @@
+package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+public class VuforiaState extends CyberarmState {
+
+    Robot robot;
+
+    public VuforiaState(Robot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void start() {
+        robot.activateVuforia();
+        robot.activateTensorflow();
+    }
+
+    @Override
+    public void exec() {
+        for (Recognition recognition : robot.tensorflowDetections()) {
+        }
+    }
+
+    @Override
+    public void telemetry() {
+        for (Recognition recognition : robot.tensorflowDetections()) {
+            engine.telemetry.addData("Label", recognition.getLabel());
+            engine.telemetry.addData("Left", recognition.getLeft());
+            engine.telemetry.addData("Top", recognition.getTop());
+            engine.telemetry.addData("Confidence", recognition.getConfidence());
+        }
+    }
+}