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Code Issues Projects Releases Wiki Activity

LED's and belt bug fix

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This commit is contained in:
Nathaniel Palme
2021-03-04 20:20:05 -06:00
parent 657f30bf15
commit be8b33f857
7 changed files with 73 additions and 33 deletions
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9
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Launch.java
View File

@@ -1,5 +1,7 @@
package org.timecrafters.UltimateGoal.Competition;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
public class Launch extends CyberarmState {
@@ -28,12 +30,15 @@ public class Launch extends CyberarmState {
try {
if (robot.stateConfiguration.action(groupName, actionName).enabled) {
robot.ringBeltMotor.setPower(0.5);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.DARK_BLUE);
} else {
setHasFinished(true);
}
} catch (NullPointerException e){
robot.ringBeltMotor.setPower(0.5);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.DARK_BLUE);
}
}
@Override
@@ -66,9 +71,10 @@ public class Launch extends CyberarmState {
}
setHasFinished(true);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.DARK_GREEN);
} else {
hasCycled = true;
reducePos = robot.loopPos((int) (beltPos + (1.5 * Robot.RING_BELT_GAP)));
reducePos = (int) (beltPos + (1.5 * Robot.RING_BELT_GAP));
}
}
detectedPass = detectingPass;
@@ -76,6 +82,7 @@ public class Launch extends CyberarmState {
boolean reduceCondition = (hasCycled && beltPos > reducePos);
if (reduceCondition && !reduceConditionPrev){
robot.ringBeltOn();
//the ring belt stage lets other states know that the robot has finished launching all three rings
//and is now returning to loading position.

33
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/ProgressRingBelt.java
View File

@@ -1,5 +1,7 @@
package org.timecrafters.UltimateGoal.Competition;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
public class ProgressRingBelt extends CyberarmState {
@@ -17,14 +19,16 @@ public class ProgressRingBelt extends CyberarmState {
public void start() {
int currentPos = robot.ringBeltMotor.getCurrentPosition();
if (robot.ringBeltStage < 2) {
targetPos = robot.loopPos(currentPos + Robot.RING_BELT_GAP);
targetPos = currentPos + Robot.RING_BELT_GAP;
robot.ringBeltOn();
robot.ringBeltStage += 1;
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
} else if (robot.ringBeltStage == 2) {
targetPos = robot.loopPos(currentPos + 160);
targetPos = currentPos + 160;
robot.ringBeltOn();
robot.ringBeltStage += 1;
prepLaunch = !robot.initLauncher;
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BLUE);
} else if (robot.ringBeltStage > 2) {
setHasFinished(true);
}
@@ -34,27 +38,30 @@ public class ProgressRingBelt extends CyberarmState {
@Override
public void exec() {
if (robot.beltIsStuck() && childrenHaveFinished()) {
long currentTime = System.currentTimeMillis();
if (stuckStartTime == 0) {
stuckStartTime = currentTime;
} else if (currentTime - stuckStartTime >= robot.beltMaxStopTime) {
addParallelState(new UnstickRingBelt(robot));
}
} else {
stuckStartTime = 0;
}
int currentPos = robot.ringBeltMotor.getCurrentPosition();
if (currentPos >= targetPos) {
robot.ringBeltMotor.setPower(0);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.DARK_GREEN);
if(prepLaunch) {
robot.launchMotor.setPower(Robot.LAUNCH_POWER);
}
setHasFinished(true);
}
if (robot.beltIsStuck() && childrenHaveFinished()) {
long currentTime = System.currentTimeMillis();
if (stuckStartTime == 0) {
stuckStartTime = currentTime;
} else if (currentTime - stuckStartTime >= robot.beltMaxStopTime) {
addParallelState(new UnstickRingBelt(robot));
}
} else {
stuckStartTime = 0;
}
}
}

10
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/Robot.java
View File

@@ -5,6 +5,7 @@ import android.util.Log;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.hardware.rev.RevColorSensorV3;
import com.qualcomm.hardware.rev.RevTouchSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
@@ -49,6 +50,8 @@ public class Robot {
public TimeCraftersConfiguration stateConfiguration = new TimeCraftersConfiguration();
public BNO055IMU imu;
public RevBlinkinLedDriver ledDriver;
//drive system
public DcMotor driveFrontLeft;
public DcMotor driveBackLeft;
@@ -286,6 +289,8 @@ public class Robot {
launchRotation = stateConfiguration.variable("system", "launchPos","rot").value();
initTensorFlow();
ledDriver = hardwareMap.get(RevBlinkinLedDriver.class, "leds");
}
private void initVuforia() {
@@ -628,11 +633,6 @@ public class Robot {
return notMoved;
}
public int loopPos(int pos) {
pos %= RING_BELT_LOOP_TICKS;
return pos;
}
public void record(String record) {
TestingRecord+="\n"+record;
}

6
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/TeleOp/Player2.java
View File

@@ -1,5 +1,6 @@
package org.timecrafters.UltimateGoal.Competition.TeleOp;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.DcMotor;
import org.cyberarm.engine.V2.CyberarmState;
@@ -34,6 +35,11 @@ public class Player2 extends CyberarmState {
robot.wobbleArmMotor.setPower(0.5);
}
@Override
public void start() {
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.DARK_GREEN);
}
@Override
public void exec() {

7
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Competition/UnstickRingBelt.java
View File

@@ -1,5 +1,7 @@
package org.timecrafters.UltimateGoal.Competition;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import org.cyberarm.engine.V2.CyberarmState;
public class UnstickRingBelt extends CyberarmState {
@@ -16,14 +18,15 @@ public class UnstickRingBelt extends CyberarmState {
public void start() {
lastPower = robot.ringBeltMotor.getPower();
int currentPos = robot.ringBeltMotor.getCurrentPosition();
targetPos = robot.loopPos(currentPos - robot.beltReverseTicks);
targetPos = currentPos - robot.beltReverseTicks;
robot.ringBeltMotor.setPower(-Robot.RING_BELT_POWER);
robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.HEARTBEAT_RED);
}
@Override
public void exec() {
int currentPos = robot.ringBeltMotor.getCurrentPosition();
if (currentPos < targetPos) {
robot.ringBeltMotor.setPower(lastPower);
setHasFinished(true);

28
TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/LEDTest.java Normal file
View File

@@ -0,0 +1,28 @@
package org.timecrafters.UltimateGoal.HardwareTesting;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.hardware.Servo;
import org.cyberarm.engine.V2.CyberarmState;
public class LEDTest extends CyberarmState {
RevBlinkinLedDriver leds;
@Override
public void init() {
leds = engine.hardwareMap.get(RevBlinkinLedDriver.class, "leds");
}
@Override
public void exec() {
setHasFinished(false);
if (engine.gamepad1.x) {
leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.RED);
} else {
leds.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN );
}
}
}

13
TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/TestingEngine.java
View File

@@ -10,21 +10,10 @@ import org.timecrafters.UltimateGoal.Competition.Robot;
public class TestingEngine extends CyberarmEngine {
private Robot robot;
@Override
public void init() {
robot = new Robot(hardwareMap);
robot.initHardware();
super.init();
}
@Override
public void setup() {
addState(new FindWobbleGoal(robot, "auto", "08_0"));
addState(new LEDTest());
}
// @Override
// public void stop() {
// robot.saveRecording();
// super.stop();
// }
}