TimeCrafters/UltimateGoal
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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
SafePencil
2021-08-12 19:37:29 -05:00
parent a8f4c09b51 aee6927782
commit a17b0986c6
4 changed files with 89 additions and 65 deletions
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3
.idea/misc.xml generated
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@@ -1,6 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="ProjectType">

14
TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java
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@@ -17,16 +17,20 @@ public class dance extends CyberarmState {
@Override
public void exec() {
float rotation = robot.getIMURotation();
if (rotation <RotationLimit) {
powerWorks = -speed;
}else {
powerWorks = speed;
}
robot.driveBackRight.setPower(powerWorks);
robot.driveBackLeft.setPower(-powerWorks);
robot.driveFrontLeft.setPower(-powerWorks);
robot.driveFrontRight.setPower(powerWorks);
if (1 < rotation && rotation< 15){
powerWorks = 0;
}
}
@Override
public void telemetry() {engine.telemetry.addData("rotation",robot.getIMURotation());
}
}

3
TeamCode/src/main/java/org/timecrafters/javaClass/samples/AubreyFirstEngine.java
View File

@@ -5,6 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.UltimateGoal.Competition.Robot;
import org.timecrafters.javaClass.aubrey.AubreyFirstState;
import org.timecrafters.javaClass.aubrey.dance;
@Autonomous(name = "Aubrey: First Program", group = "aubrey")
public class AubreyFirstEngine extends CyberarmEngine {
@@ -21,6 +22,6 @@ public class AubreyFirstEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new AubreyFirstState(robot));
addState(new dance(robot));
}
}

134
TeamCode/src/main/java/org/timecrafters/javaClass/spencer/SpencerFirstState.java
View File

@@ -19,6 +19,8 @@ public class SpencerFirstState extends CyberarmState {
private float leftTrigger;
private boolean x;
private boolean b;
private boolean aPrev;
private double drivepower = 1;
//This is the constructor. It lets other code bits run use the code you put here
public SpencerFirstState(SampleRobot robot) {
@@ -39,73 +41,89 @@ public class SpencerFirstState extends CyberarmState {
a = engine.gamepad1.a;
x = engine.gamepad1.x;
rightTrigger = engine.gamepad1.right_trigger;
leftTrigger = engine.gamepad1.right_trigger;
leftTrigger = engine.gamepad1.left_trigger;
b = engine.gamepad1.b;
/*this section is no bumpers... tank drive*/
if (!leftBumper && !rightBumper) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(-leftStick);
robot.driveFrontRight.setPower(-rightStick);
robot.driveBackLeft.setPower(-leftStick);
robot.driveBackRight.setPower(-rightStick);
}
/*
if (x) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.ORANGE);
robot.driveFrontLeft.setPower(-.5);
robot.driveFrontRight.setPower(-.5);
robot.driveBackLeft.setPower(-.5);
robot.driveBackRight.setPower(-.5);
boolean a = engine.gamepad1.a;
if (engine.gamepad1.a && !aPrev) {
if (drivepower == 1) {
drivepower = 0.5;
} else {
drivepower = 1;
}
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);
}
/* 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);
if (rightTriggerB) {
robot.collectionMotor.setPower(1);
} else {
robot.collectionMotor.setPower(0);
}
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) {
robot.ringBeltMotor.setPower(1);
} else {
robot.ringBeltMotor.setPower(0);
}
if (robot.launchMotor.getPower() == 1) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else if (leftTrigger >= 0.5) {
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);
}
}
if (b){
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
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.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
robot.driveFrontLeft.setPower(1);
robot.driveFrontRight.setPower(-1);
robot.driveBackLeft.setPower(-1);
robot.driveBackRight.setPower(1);
}
/* y section ... when y is pressed fly wheel starts, when a is pressed fly wheel stops*/
if (y) {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
robot.launchMotor.setPower(1);
} else if (a) {
robot.launchMotor.setPower(0);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
}
/*right Trigger section ... when right trigger is held collection wheels suck rings*/
if (rightTrigger>=0.5){
robot.collectionMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
}
/*left trigger ... when left trigger is held tracks moves ring, when trigger is let go track stops*/
else if (leftTrigger>=0.5) {
robot.ringBeltMotor.setPower(1);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GOLD);
}
}
}