TimeCrafters/UltimateGoal
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messing around and refactored magnetSensor

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This commit is contained in:
Nathaniel Palme
2021-08-12 20:25:09 -05:00
parent fe0154b646
commit 06f692ab5c
8 changed files with 42 additions and 34 deletions
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2
.idea/compiler.xml generated
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CompilerConfiguration">
<bytecodeTargetLevel target="11" />
<bytecodeTargetLevel target="1.8" />
</component>
</project>

2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java
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@@ -21,7 +21,7 @@ public class CalibrateRingBeltLoop extends CyberarmState {
public void exec() {
currentTick = robot.ringBeltMotor.getCurrentPosition();
limit = robot.limitSwitch.isPressed();
limit = robot.magnetSensor.isPressed();
if (engine.gamepad1.x || (engine.gamepad1.a && !limit)) {
robot.ringBeltMotor.setPower(0.5);

2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java
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@@ -62,7 +62,7 @@ public class Launch extends CyberarmState {
}
//detect when limit switch is initially triggered
boolean detectingPass = robot.limitSwitch.isPressed();
boolean detectingPass = robot.magnetSensor.isPressed();
int beltPos = robot.ringBeltMotor.getCurrentPosition();
if (detectingPass && !detectedPass) {
//finish once the ring belt has cycled all the way through and then returned to

2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java
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@@ -18,7 +18,7 @@ public class FindLimitSwitch extends CyberarmState {
@Override
public void exec() {
if (robot.limitSwitch.isPressed()) {
if (robot.magnetSensor.isPressed()) {
robot.ringBeltMotor.setPower(0);
setHasFinished(true);
}

2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java
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@@ -26,7 +26,7 @@ public class ResetRingBelt extends CyberarmState {
@Override
public void exec() {
//detect when limit switch is initially triggered
boolean detectingPass = robot.limitSwitch.isPressed();
boolean detectingPass = robot.magnetSensor.isPressed();
int beltPos = robot.ringBeltMotor.getCurrentPosition();
if (detectingPass && !detectedPass) {

4
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java
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@@ -170,7 +170,7 @@ public class Robot {
//Ring Belt
public DcMotor ringBeltMotor;
public RevTouchSensor limitSwitch;
public RevTouchSensor magnetSensor;
public int ringBeltStage;
public int ringBeltGap = 700;
public static final double RING_BELT_SLOW_POWER = 0.2;
@@ -256,7 +256,7 @@ public class Robot {
ringBeltMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
ringBeltMotor .setMode(DcMotor.RunMode.RUN_USING_ENCODER);
limitSwitch = hardwareMap.get(RevTouchSensor.class, "magLim");
magnetSensor = hardwareMap.get(RevTouchSensor.class, "magLim");
beltMaxStopTime = stateConfiguration.variable(
"system","belt", "maxStopTime").value();

27
TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java
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@@ -1,27 +0,0 @@
package org.timecrafters.javaClass.samples.samples;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.javaClass.samples.SampleRobot;
public class BlankStuff extends CyberarmState {
//here, you'll find some of your variables. you can add more as you need them.
private SampleRobot robot;
//This is the constructor. It lets other code bits run use the code you put here
public BlankStuff(SampleRobot robot) {
this.robot = robot;
}
//This is a method. methods are bits of code that can be run elsewhere.
//This one is set up to repeat every few milliseconds
@Override
public void exec() {
double targetDistance = robot.inchesToTicks(12);
if (robot.encoderLeft.getCurrentPosition() <= targetDistance) {
robot.driveBackRight.setPower(1);
}
}
}

35
TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java Normal file
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@@ -0,0 +1,35 @@
package org.timecrafters.javaClass.samples.samples;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.UltimateGoal.Competition.Robot;
public class blankTHing extends CyberarmState {
private Robot robot;
private float trigger;
private int someOtherValue = 100;
public blankTHing(Robot robot) {
this.robot = robot;
}
@Override
public void init() {
robot.ringBeltMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.ringBeltMotor.setTargetPosition(0);
robot.ringBeltMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
@Override
public void exec() {
robot.magnetSensor.isPressed();
robot.ringBeltMotor.setTargetPosition(robot.ringBeltMotor.getCurrentPosition() + someOtherValue);
}
}