From 06f692ab5c122fa7d888e4960792e823498c4540 Mon Sep 17 00:00:00 2001 From: Nathaniel Palme Date: Thu, 12 Aug 2021 20:25:09 -0500 Subject: [PATCH] messing around and refactored magnetSensor --- .idea/compiler.xml | 2 +- .../Calibration/CalibrateRingBeltLoop.java | 2 +- .../UltimateGoal/Competition/Launch.java | 2 +- .../Competition/PreInit/FindLimitSwitch.java | 2 +- .../Competition/ResetRingBelt.java | 2 +- .../UltimateGoal/Competition/Robot.java | 4 +-- .../javaClass/samples/samples/BlankStuff.java | 27 -------------- .../javaClass/samples/samples/blankTHing.java | 35 +++++++++++++++++++ 8 files changed, 42 insertions(+), 34 deletions(-) delete mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java diff --git a/.idea/compiler.xml b/.idea/compiler.xml index fb7f4a8..61a9130 100644 --- a/.idea/compiler.xml +++ b/.idea/compiler.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java index 4cbff57..8638b07 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java @@ -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); diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java index 9b7d500..da72b37 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java @@ -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 diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java index da726cd..39bd52c 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java @@ -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); } diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java index f929553..9088a37 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java @@ -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) { diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java index 359665e..9c32348 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java @@ -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(); diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java deleted file mode 100644 index 5c215eb..0000000 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java +++ /dev/null @@ -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); - } - - } -} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java new file mode 100644 index 0000000..f73b4ea --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java @@ -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); + + } +}