From b85dbe23fe73ce45e0e314b24e9b303962af909c Mon Sep 17 00:00:00 2001 From: Spencer Date: Wed, 25 Aug 2021 16:15:51 -0500 Subject: [PATCH] (: --- .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(); + } +}