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Spencer
2021-08-12 20:31:38 -05:00
parent a82f47e93f
commit 15dbd5c3f0
4 changed files with 109 additions and 38 deletions
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11
TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java
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@@ -1,27 +1,30 @@
package org.timecrafters.javaClass.samples;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.UltimateGoal.Competition.Robot;
import org.timecrafters.javaClass.aubrey.AubreyFirstState;
import org.timecrafters.javaClass.spencer.SpencerFirstState;
@Autonomous (name = "Spencer: First Program", group = "spencer")
@TeleOp(name = "Spencer: Buttons", group = "spencer")
public class SpencerFirstEngine extends CyberarmEngine {
SampleRobot robot;
boolean yBeingPressed;
@Override
public void init() {
robot = new SampleRobot(hardwareMap);
robot.initHardware();
robot.wobbleGrabServo.setPosition(Robot.WOBBLE_SERVO_CLOSED);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
super.init();
yBeingPressed = false;
}
@Override
public void setup() {
addState(new SpencerFirstState(robot));
addState(new Spencer_buttons(robot,yBeingPressed));
}
}

42
TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java Normal file
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@@ -0,0 +1,42 @@
package org.timecrafters.javaClass.samples;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
public class Spencer_buttons extends CyberarmState {
public Spencer_buttons(SampleRobot robot, boolean yBeingPressed) {
this.robot = robot;
this.yBeingPressed = yBeingPressed;
}
SampleRobot robot;
boolean yBeingPressed;
int Lights = 0;
@Override
public void exec() {
if (engine.gamepad1.y && !yBeingPressed){
yBeingPressed = true;
Lights ++;
if (Lights>4)Lights = 1;
switch (Lights) {
case 1:
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
break;
case 2:
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
break;
case 3:
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
break;
case 4:
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
break;
}
}
else if (!engine.gamepad1.y && yBeingPressed){
yBeingPressed = false;
}
}
}

28
TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java Normal file
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@@ -0,0 +1,28 @@
package org.timecrafters.javaClass.samples;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.UltimateGoal.Competition.Robot;
import org.timecrafters.javaClass.aubrey.AubreyFirstState;
import org.timecrafters.javaClass.spencer.SpencerFirstState;
@TeleOp(name = "Spencer: runrobot", group = "spencer")
public class spencer_robotrun_engine extends CyberarmEngine {
SampleRobot robot;
@Override
public void init() {
robot = new SampleRobot(hardwareMap);
robot.initHardware();
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
super.init();
}
@Override
public void setup() {
addState(new SpencerFirstState(robot));
}
}

66
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
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@@ -52,46 +52,46 @@ public class SpencerFirstState extends CyberarmState {
robot.driveBackRight.setPower(-rightStick);
}
boolean a = engine.gamepad1.a;
/* boolean a = engine.gamepad1.a;
if (engine.gamepad1.a && !aPrev) {
if (drivepower == 1) {
drivepower = 0.5;
} else {
drivepower = 1;
}
engine.gamepad1.a = aPrev;
engine.gamepad1.a = aPrev;*/
/*this is left bumper section... strafe to the left*/
if (leftBumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(-1);
/*this is left bumper section... strafe to the left*/
if (leftBumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(-1);
}
/* right bumper section ... strafe to the right*/
else if (rightBumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
} else {
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
if (y) {
robot.launchMotor.setPower(1);
if (a) {
robot.launchMotor.setPower(0);
}
/* right bumper section ... strafe to the right*/
else if (rightBumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
} else {
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/* y section ... when y is pressed fly wheel starts, when y is pressed again fly wheel stops*/
boolean changed = false; //outside of loop
if (engine.gamepad1.y && !changed) {
if (robot.launchMotor.getPower() == 0) robot.launchMotor.setPower(1);
else robot.launchMotor.setPower(0);
changed = true;
} else if (!engine.gamepad1.y) changed = false;
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
boolean rightTriggerB = (rightTrigger >= 0.5);
@@ -102,9 +102,9 @@ public class SpencerFirstState extends CyberarmState {
}
if (engine.gamepad1.b) {
/* if (engine.gamepad1.b) {
robot.ringBeltMotor.setPower(-0.5);
}
}*/
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
if (leftTrigger >= 0.5) {
@@ -119,11 +119,9 @@ public class SpencerFirstState extends CyberarmState {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
} else if (rightTriggerB) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
} else if (drivepower == 0.5){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
} else {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
}
}
}
}