TimeCrafters/UltimateGoal
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SafePencil
2021-10-16 11:02:50 -05:00
parent 3927e4a943
commit 3ea5b65388
7 changed files with 38 additions and 200 deletions
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13
TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstEngine.java
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@@ -12,17 +12,10 @@ public class CaydenFirstEngine extends CyberarmEngine {
Robot robot;
@Override
public void init() {
robot = new Robot(hardwareMap);
robot.initHardware();
robot.wobbleGrabServo.setPosition(Robot.WOBBLE_SERVO_CLOSED);
super.init();
}
@Override
public void setup() {
addState(new Cayden_Autonomous(robot,1,12));
addState(new Cayden_Autonomous(robot,-1,12));
addState(new CaydenFirstState());
}
}

76
TeamCode/src/main/java/org/timecrafters/javaClass/cayden/CaydenFirstState.java
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@@ -1,5 +1,8 @@
package org.timecrafters.javaClass.cayden;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.UltimateGoal.Competition.Robot;
import org.timecrafters.javaClass.samples.SampleRobot;
@@ -7,12 +10,25 @@ import org.timecrafters.javaClass.samples.SampleRobot;
public class CaydenFirstState extends CyberarmState {
//here, you'll find some of your variables. you can add more as you need them.
private Robot robot;
private double variable=1;
DcMotor driveFrontRight;
DcMotor driveBackRight;
DcMotor driveFrontLeft;
DcMotor driveBackLeft;
//This is the constructor. It lets other code bits run use the code you put here
public CaydenFirstState(Robot robot) {
this.robot = robot;
public CaydenFirstState() {
}
@Override
public void init() {
driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
}
//This is a method. methods are bits of code that can be run elsewhere.
@@ -20,52 +36,10 @@ public class CaydenFirstState extends CyberarmState {
@Override
public void exec() {
if (engine.gamepad1.y){
robot.collectionMotor.setPower(.75);
}
else{
robot.collectionMotor.setPower(0);
}
driveFrontRight.setPower(-engine.gamepad1.right_stick_y);
driveBackRight.setPower(-engine.gamepad1.right_stick_y);
driveFrontLeft.setPower(-engine.gamepad1.left_stick_y);
driveBackLeft.setPower(-engine.gamepad1.left_stick_y);
if(engine.gamepad1.b){
robot.ringBeltMotor.setPower(1);
}
else{
robot.ringBeltMotor.setPower(0);
}
robot.driveFrontRight.setPower(-engine.gamepad1.right_stick_y);
robot.driveBackRight.setPower(-engine.gamepad1.right_stick_y);
robot.driveFrontLeft.setPower(-engine.gamepad1.left_stick_y);
robot.driveBackLeft.setPower(-engine.gamepad1.left_stick_y);
if (engine.gamepad1.left_bumper) {
robot.driveFrontLeft.setPower(-1);
robot.driveFrontRight.setPower(1);
robot.driveBackLeft.setPower(1);
robot.driveBackRight.setPower(-1);
} else if (engine.gamepad1.right_bumper) {
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
}
robot.ringBeltMotor.setPower(engine.gamepad1.right_trigger);
if (engine.gamepad1.x){
robot.launchMotor.setPower(1);
}else{
robot.launchMotor.setPower(0);
}
if (engine.gamepad1.dpad_up){
robot.webCamServo.setPosition(0);
}else if (engine.gamepad1.dpad_down){
robot.webCamServo.setPosition(robot.CAM_SERVO_DOWN);
}
}
}
}

6
TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Minibot_State.java
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@@ -12,8 +12,10 @@ public class Minibot_State extends CyberarmState {
@Override
public void exec() {
if (engine.gamepad1.right_trigger > -0.5) {
if (engine.gamepad1.right_trigger > 0.5) {
robot.driveleft.setPower(1);
} else robot.driveleft.setPower(0);
} else {
robot.driveleft.setPower(0);
}
}
}

5
TeamCode/src/main/java/org/timecrafters/javaClass/cayden/miniboi.java
View File

@@ -9,11 +9,6 @@ import org.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Caydens minibot", group = "Cayden")
public class miniboi extends CyberarmEngine {
private HardwareMap hardwareMap;
public miniboi(HardwareMap hardWareMap) {
hardwareMap = hardWareMap;
}
public DcMotor driveleft;
public DcMotor driveright;