From 39ee83435f90341103a5d9295b3fcbce77baba56 Mon Sep 17 00:00:00 2001 From: scottbadger777 <37743855+scottbadger777@users.noreply.github.com> Date: Thu, 12 Aug 2021 19:57:15 -0500 Subject: [PATCH 1/4] UwU --- .../main/java/org/timecrafters/javaClass/aubrey/dance.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java index d4d0923..9b1cf97 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java @@ -1,5 +1,7 @@ package org.timecrafters.javaClass.aubrey; +import com.qualcomm.hardware.rev.RevBlinkinLedDriver; + import org.cyberarm.engine.V2.CyberarmState; import org.timecrafters.javaClass.samples.SampleRobot; @@ -27,7 +29,7 @@ public class dance extends CyberarmState { powerWorks = 0; } - +robot. ledDriver. setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_2_COLOR_GRADIENT); } @Override From a324a0f1d18ba2e71d438b2e75b753e49fbf7772 Mon Sep 17 00:00:00 2001 From: scottbadger777 <37743855+scottbadger777@users.noreply.github.com> Date: Thu, 12 Aug 2021 20:02:16 -0500 Subject: [PATCH 2/4] UwU --- .../src/main/java/org/timecrafters/javaClass/aubrey/dance.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java index 9b1cf97..2aed0a7 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/aubrey/dance.java @@ -29,7 +29,7 @@ public class dance extends CyberarmState { powerWorks = 0; } -robot. ledDriver. setPattern(RevBlinkinLedDriver.BlinkinPattern.CP1_2_COLOR_GRADIENT); +robot. ledDriver. setPattern(RevBlinkinLedDriver.BlinkinPattern.RAINBOW_RAINBOW_PALETTE); } @Override From 06f692ab5c122fa7d888e4960792e823498c4540 Mon Sep 17 00:00:00 2001 From: Nathaniel Palme Date: Thu, 12 Aug 2021 20:25:09 -0500 Subject: [PATCH 3/4] messing around and refactored magnetSensor --- .idea/compiler.xml | 2 +- .../Calibration/CalibrateRingBeltLoop.java | 2 +- .../UltimateGoal/Competition/Launch.java | 2 +- .../Competition/PreInit/FindLimitSwitch.java | 2 +- .../Competition/ResetRingBelt.java | 2 +- .../UltimateGoal/Competition/Robot.java | 4 +-- .../javaClass/samples/samples/BlankStuff.java | 27 -------------- .../javaClass/samples/samples/blankTHing.java | 35 +++++++++++++++++++ 8 files changed, 42 insertions(+), 34 deletions(-) delete mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java diff --git a/.idea/compiler.xml b/.idea/compiler.xml index fb7f4a8..61a9130 100644 --- a/.idea/compiler.xml +++ b/.idea/compiler.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java index 4cbff57..8638b07 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Calibration/CalibrateRingBeltLoop.java @@ -21,7 +21,7 @@ public class CalibrateRingBeltLoop extends CyberarmState { public void exec() { currentTick = robot.ringBeltMotor.getCurrentPosition(); - limit = robot.limitSwitch.isPressed(); + limit = robot.magnetSensor.isPressed(); if (engine.gamepad1.x || (engine.gamepad1.a && !limit)) { robot.ringBeltMotor.setPower(0.5); diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java index 9b7d500..da72b37 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java @@ -62,7 +62,7 @@ public class Launch extends CyberarmState { } //detect when limit switch is initially triggered - boolean detectingPass = robot.limitSwitch.isPressed(); + boolean detectingPass = robot.magnetSensor.isPressed(); int beltPos = robot.ringBeltMotor.getCurrentPosition(); if (detectingPass && !detectedPass) { //finish once the ring belt has cycled all the way through and then returned to diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java index da726cd..39bd52c 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/PreInit/FindLimitSwitch.java @@ -18,7 +18,7 @@ public class FindLimitSwitch extends CyberarmState { @Override public void exec() { - if (robot.limitSwitch.isPressed()) { + if (robot.magnetSensor.isPressed()) { robot.ringBeltMotor.setPower(0); setHasFinished(true); } diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java index f929553..9088a37 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ResetRingBelt.java @@ -26,7 +26,7 @@ public class ResetRingBelt extends CyberarmState { @Override public void exec() { //detect when limit switch is initially triggered - boolean detectingPass = robot.limitSwitch.isPressed(); + boolean detectingPass = robot.magnetSensor.isPressed(); int beltPos = robot.ringBeltMotor.getCurrentPosition(); if (detectingPass && !detectedPass) { diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java index 359665e..9c32348 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java @@ -170,7 +170,7 @@ public class Robot { //Ring Belt public DcMotor ringBeltMotor; - public RevTouchSensor limitSwitch; + public RevTouchSensor magnetSensor; public int ringBeltStage; public int ringBeltGap = 700; public static final double RING_BELT_SLOW_POWER = 0.2; @@ -256,7 +256,7 @@ public class Robot { ringBeltMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); ringBeltMotor .setMode(DcMotor.RunMode.RUN_USING_ENCODER); - limitSwitch = hardwareMap.get(RevTouchSensor.class, "magLim"); + magnetSensor = hardwareMap.get(RevTouchSensor.class, "magLim"); beltMaxStopTime = stateConfiguration.variable( "system","belt", "maxStopTime").value(); diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java deleted file mode 100644 index 5c215eb..0000000 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java +++ /dev/null @@ -1,27 +0,0 @@ -package org.timecrafters.javaClass.samples.samples; - -import org.cyberarm.engine.V2.CyberarmState; -import org.timecrafters.javaClass.samples.SampleRobot; - -public class BlankStuff extends CyberarmState { - - //here, you'll find some of your variables. you can add more as you need them. - private SampleRobot robot; - - //This is the constructor. It lets other code bits run use the code you put here - public BlankStuff(SampleRobot robot) { - this.robot = robot; - } - - //This is a method. methods are bits of code that can be run elsewhere. - //This one is set up to repeat every few milliseconds - @Override - public void exec() { - - double targetDistance = robot.inchesToTicks(12); - if (robot.encoderLeft.getCurrentPosition() <= targetDistance) { - robot.driveBackRight.setPower(1); - } - - } -} diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java new file mode 100644 index 0000000..f73b4ea --- /dev/null +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/blankTHing.java @@ -0,0 +1,35 @@ +package org.timecrafters.javaClass.samples.samples; + +import com.qualcomm.robotcore.hardware.DcMotor; + +import org.cyberarm.engine.V2.CyberarmState; +import org.timecrafters.UltimateGoal.Competition.Robot; + +public class blankTHing extends CyberarmState { + + private Robot robot; + private float trigger; + private int someOtherValue = 100; + + + public blankTHing(Robot robot) { + this.robot = robot; + } + + @Override + public void init() { + robot.ringBeltMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); + robot.ringBeltMotor.setTargetPosition(0); + robot.ringBeltMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); + } + + + @Override + public void exec() { + + robot.magnetSensor.isPressed(); + + robot.ringBeltMotor.setTargetPosition(robot.ringBeltMotor.getCurrentPosition() + someOtherValue); + + } +} From 15dbd5c3f08ee08bafb6ba583db719b3fc43f04f Mon Sep 17 00:00:00 2001 From: Spencer Date: Thu, 12 Aug 2021 20:31:38 -0500 Subject: [PATCH 4/4] (: --- .../javaClass/samples/SpencerFirstEngine.java | 11 ++-- .../javaClass/samples/Spencer_buttons.java | 42 ++++++++++++ .../samples/spencer_robotrun_engine.java | 28 ++++++++ .../javaClass/spencer/SpencerFirstState.java | 66 +++++++++---------- 4 files changed, 109 insertions(+), 38 deletions(-) create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/Spencer_buttons.java create mode 100644 TeamCode/src/main/java/org/timecrafters/javaClass/samples/spencer_robotrun_engine.java 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