diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java index 97f89bb..2114dc5 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/SpencerFirstEngine.java @@ -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)); } } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java new file mode 100644 index 0000000..00c2775 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java @@ -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; + } + } + +} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java new file mode 100644 index 0000000..9881e5b --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java @@ -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)); + } +} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java index 2a6c040..f571bfa 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java @@ -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); } } } -} +} \ No newline at end of file