From 1884a35ac87893379a6b3a796fee6a5f9de599f7 Mon Sep 17 00:00:00 2001 From: Spencer Date: Thu, 19 Aug 2021 20:27:33 -0500 Subject: [PATCH 1/3] (: --- .../javaClass/spencer/SpencerDriveFoward.java | 14 ++++++++++--- .../javaClass/spencer/Spencer_Dmitry.java | 8 ++++++-- .../spencer/Spencer_Dmitry_engine.java | 6 +++++- .../javaClass/spencer/armControl.java | 20 +++++++++++++++++++ 4 files changed, 42 insertions(+), 6 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java index 20c1cba..778112c 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java @@ -6,15 +6,23 @@ import org.timecrafters.javaClass.samples.SampleRobot; public class SpencerDriveFoward extends CyberarmState { - private SampleRobot robot; + private Spencer_Dmitry spencer_dmitry; - public SpencerDriveFoward(SampleRobot robot) { - this.robot = robot; + public SpencerDriveFoward(Spencer_Dmitry spencer_dmitry) { + this.spencer_dmitry = spencer_dmitry; } + + @Override public void exec() { } + @Override + public void start() { + super.start(); + spencer_dmitry.driveright.setPower(0.5); + spencer_dmitry.driveleft.setPower(0.5); + } } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java index f7991ed..00269dc 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java @@ -1,6 +1,7 @@ package org.timecrafters.javaClass.spencer; import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.HardwareMap; public class Spencer_Dmitry { @@ -12,13 +13,16 @@ public class Spencer_Dmitry { public DcMotor driveleft; public DcMotor driveright; + public DcMotor armmotor; public void hardwareInt() { driveleft = hardwareMap.dcMotor.get("frontLeft"); driveright = hardwareMap.dcMotor.get("frontRight"); + armmotor = hardwareMap.dcMotor.get("armMotor"); + + driveleft.setDirection(DcMotorSimple.Direction.REVERSE); + driveright.setDirection(DcMotorSimple.Direction.FORWARD); } - - } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java index a291bbc..9fb7192 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java @@ -1,7 +1,11 @@ package org.timecrafters.javaClass.spencer; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; + import org.cyberarm.engine.V2.CyberarmEngine; +@Autonomous (name = "Spencer: Drive Foward") + public class Spencer_Dmitry_engine extends CyberarmEngine { private Spencer_Dmitry spencer_dmitry; @@ -16,6 +20,6 @@ public class Spencer_Dmitry_engine extends CyberarmEngine { @Override public void setup() { - + addState(new SpencerDriveFoward(spencer_dmitry)); } } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java new file mode 100644 index 0000000..1cbe670 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/armControl.java @@ -0,0 +1,20 @@ +package org.timecrafters.javaClass.spencer; + +import org.cyberarm.engine.V2.CyberarmState; + +public class armControl extends CyberarmState { + + + private Spencer_Dmitry spencer_dmitry; + + public armControl(Spencer_Dmitry spencer_dmitry) { + this.spencer_dmitry = spencer_dmitry; + } + + + @Override + public void exec() { + + } + +} \ No newline at end of file From 9caa2d93cea65d6ab95396c3a9fec0e68e416d07 Mon Sep 17 00:00:00 2001 From: Spencer Date: Tue, 24 Aug 2021 20:32:34 -0500 Subject: [PATCH 2/3] (: --- .../javaClass/spencer/SpencerDriveFoward.java | 16 ++++++++++------ .../javaClass/spencer/Spencer_Dmitry.java | 2 +- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java index 778112c..9a44e0b 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java @@ -7,22 +7,26 @@ public class SpencerDriveFoward extends CyberarmState { private Spencer_Dmitry spencer_dmitry; + public int ourposition; public SpencerDriveFoward(Spencer_Dmitry spencer_dmitry) { this.spencer_dmitry = spencer_dmitry; } - - @Override - public void exec() { + public void init() { } @Override public void start() { - super.start(); - spencer_dmitry.driveright.setPower(0.5); - spencer_dmitry.driveleft.setPower(0.5); + spencer_dmitry.driveleft.setPower(.5); + } + + @Override + public void exec() { + if (spencer_dmitry.driveleft.getCurrentPosition() >= ourposition){ + spencer_dmitry.driveleft.setPower(0); } } +} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java index 00269dc..c3e182c 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java @@ -18,7 +18,7 @@ public class Spencer_Dmitry { public void hardwareInt() { driveleft = hardwareMap.dcMotor.get("frontLeft"); driveright = hardwareMap.dcMotor.get("frontRight"); - armmotor = hardwareMap.dcMotor.get("armMotor"); + armmotor = hardwareMap.dcMotor.get("arm motor"); driveleft.setDirection(DcMotorSimple.Direction.REVERSE); driveright.setDirection(DcMotorSimple.Direction.FORWARD); From b85dbe23fe73ce45e0e314b24e9b303962af909c Mon Sep 17 00:00:00 2001 From: Spencer Date: Wed, 25 Aug 2021 16:15:51 -0500 Subject: [PATCH 3/3] (: --- .idea/compiler.xml | 2 +- .idea/misc.xml | 2 +- .../javaClass/spencer/SpencerDriveFoward.java | 40 ++++++++++++++++--- .../javaClass/spencer/Spencer_Dmitry.java | 1 + .../spencer/Spencer_Dmitry_engine.java | 1 - .../javaClass/spencer/spencerTankDrive.java | 29 ++++++++++++++ .../javaClass/spencer/spencerTurnState.java | 24 +++++++++++ 7 files changed, 91 insertions(+), 8 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java diff --git a/.idea/compiler.xml b/.idea/compiler.xml index 61a9130..fb7f4a8 100644 --- a/.idea/compiler.xml +++ b/.idea/compiler.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml index 5c9f89f..54d5acd 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -1,7 +1,7 @@ - + diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java index 9a44e0b..e824944 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerDriveFoward.java @@ -15,18 +15,48 @@ public class SpencerDriveFoward extends CyberarmState { @Override public void init() { - + spencer_dmitry.armmotor.setPower(1); + sleep(200); } @Override public void start() { - spencer_dmitry.driveleft.setPower(.5); + spencer_dmitry.armmotor.setPower(1); + sleep(100); + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(-1); + sleep(4800); + spencer_dmitry.driveleft.setPower(0); + spencer_dmitry.driveright.setPower(0); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(1); + sleep(850); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(-1); + sleep(2500); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(1); + sleep(850); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(-1); + sleep(3700); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(1); + sleep(850); + + spencer_dmitry.driveleft.setPower(-1); + spencer_dmitry.driveright.setPower(-1); + sleep(2500); } @Override public void exec() { - if (spencer_dmitry.driveleft.getCurrentPosition() >= ourposition){ - spencer_dmitry.driveleft.setPower(0); + spencer_dmitry.driveleft.setPower(0); + spencer_dmitry.driveright.setPower(0); } } -} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java index c3e182c..9b7591d 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry.java @@ -22,6 +22,7 @@ public class Spencer_Dmitry { driveleft.setDirection(DcMotorSimple.Direction.REVERSE); driveright.setDirection(DcMotorSimple.Direction.FORWARD); + armmotor.setDirection(DcMotorSimple.Direction.FORWARD); } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java index 9fb7192..b190a06 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/Spencer_Dmitry_engine.java @@ -10,7 +10,6 @@ public class Spencer_Dmitry_engine extends CyberarmEngine { private Spencer_Dmitry spencer_dmitry; - @Override public void init() { spencer_dmitry = new Spencer_Dmitry(hardwareMap); diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java new file mode 100644 index 0000000..ac69727 --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTankDrive.java @@ -0,0 +1,29 @@ +/*package org.timecrafters.javaClass.spencer; + +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.cyberarm.engine.V2.CyberarmEngine; +import org.cyberarm.engine.V2.CyberarmState; + +@TeleOp (name = "Spencer: Tank Drive") + +public class spencerTankDrive extends CyberarmState { + + private Spencer_Dmitry spencer_dmitry; + private double leftstick; + private double rightstick; + + @Override + public void init() { + spencer_dmitry = new Spencer_Dmitry(engine.hardwareMap); + spencer_dmitry.hardwareInt(); + } + + @Override + public void exec() { + spencer_dmitry.driveleft.setPower(engine.gamepad1.left_stick_y); + spencer_dmitry.driveright.setPower(engine.gamepad1.right_stick_y); + } +} +*/ \ No newline at end of file diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java new file mode 100644 index 0000000..5470d2f --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/spencer/spencerTurnState.java @@ -0,0 +1,24 @@ +package org.timecrafters.javaClass.spencer; + +import org.cyberarm.engine.V2.CyberarmState; + +public class spencerTurnState extends CyberarmState { + private Spencer_Dmitry spencer_dmitry; + public spencerTurnState (Spencer_Dmitry spencer_dmitry) { + this.spencer_dmitry = spencer_dmitry; + } + + @Override + public void start() { + + } + + + @Override + public void exec() { + spencer_dmitry.driveleft.setPower(-.5); + spencer_dmitry.driveright.setPower(.5); + sleep(1000); + stop(); + } +}