Merge remote-tracking branch 'origin/master'

.idea/compiler.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="11" />
+    <bytecodeTargetLevel target="1.8" />
   </component>
 </project>

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);

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

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);
         }

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) {

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();

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.RAINBOW_RAINBOW_PALETTE);
     }
 
     @Override

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));
     }
 }

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;
+    }
+    }
+
+}

TeamCode/src/main/java/org/timecrafters/javaClass/samples/samples/BlankStuff.java

@@ -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);
-        }
-
-    }
-}

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);
+
+    }
+}

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));
+    }
+}

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*/
+        /*this is left bumper section... strafe to the left*/
-            if (leftBumper) {
+        if (leftBumper) {
-                robot.driveFrontLeft.setPower(-1);
+            robot.driveFrontLeft.setPower(-1);
-                robot.driveFrontRight.setPower(1);
+            robot.driveFrontRight.setPower(1);
-                robot.driveBackLeft.setPower(1);
+            robot.driveBackLeft.setPower(1);
-                robot.driveBackRight.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) {
@@ -119,8 +119,6 @@ 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);
             }