From 9979446c9f502ea0dbb98e17849d13d60e8e41ce Mon Sep 17 00:00:00 2001
From: Jack Revoy <jack.revoy75@gmail.com>
Date: Thu, 10 Oct 2024 14:38:21 -0600
Subject: [PATCH 1/2] state machine base
---
.../ftc/teamcode/teleop/InitialTeleOp.java | 131 ++++++++++++++++++
.../ftc/teamcode/teleop/TeleOpStates.java | 14 ++
2 files changed, 145 insertions(+)
create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
new file mode 100644
index 0000000..3b36e4d
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
@@ -0,0 +1,131 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+
+import org.firstinspires.ftc.teamcode.subsystems.HWC;
+
+/**
+ * TeleOp OpMode for simply driving with strafing wheels
+ * Look at JAVA DOC!
+ */
+@TeleOp(name = "Basic Strafe Drive", group = "Iterative OpMode")
+public class InitialTeleOp extends OpMode {
+ private final ElapsedTime time = new ElapsedTime();
+ HWC robot; // Declare the object for HWC, will allow us to access all the motors declared there!
+ TeleOpStates state; //Creates object of states enum
+ // init() Runs ONCE after the driver hits initialize
+ @Override
+ public void init() {
+ // Tell the driver the Op is initializing
+ telemetry.addData("Status", "Initializing");
+
+ // Do all init stuff
+ // TODO: ADD INITS THAT YOU NEED
+ robot = new HWC(hardwareMap, telemetry);
+
+ // Tell the driver the robot is ready
+ telemetry.addData("Status", "Initialized");
+
+ // Creates States
+ state = TeleOpStates.START;
+ }
+
+ // init_loop() - Runs continuously until the driver hits play
+ @Override
+ public void init_loop() {
+ }
+
+ // Start() - Runs ONCE when the driver presses play
+ @Override
+ public void start() {
+ time.reset();
+ }
+
+ // loop() - Runs continuously while the OpMode is active
+ @Override
+ public void loop() {
+ double leftFPower;
+ double rightFPower;
+ double leftBPower;
+ double rightBPower;
+ double drive = -gamepad1.left_stick_x * 0.8;
+ double turn = gamepad1.left_stick_y * 0.6;
+ double strafe = -gamepad1.right_stick_x * 0.8;
+
+ // Calculate drive power
+ if (drive != 0 || turn != 0) {
+ leftFPower = Range.clip(drive + turn, -1.0, 1.0);
+ rightFPower = Range.clip(drive - turn, -1.0, 1.0);
+ leftBPower = Range.clip(drive + turn, -1.0, 1.0);
+ rightBPower = Range.clip(drive - turn, -1.0, 1.0);
+ } else if (strafe != 0) {
+ // Strafing
+ leftFPower = -strafe;
+ rightFPower = strafe;
+ leftBPower = strafe;
+ rightBPower = -strafe;
+ } else {
+ leftFPower = 0;
+ rightFPower = 0;
+ leftBPower = 0;
+ rightBPower = 0;
+ }
+
+ // Set power to values calculated above
+ robot.leftFront.setPower(leftFPower);
+ robot.leftRear.setPower(leftBPower);
+ robot.rightFront.setPower(rightFPower);
+ robot.rightRear.setPower(rightBPower);
+
+
+ switch(state){
+
+ case START:
+ break;
+
+ case DRIVE:
+
+ break;
+
+ case INTAKE_SAMPLE:
+ break;
+
+ case INTAKE_SPECIMEN:
+ break;
+
+ case DELIVER_SAMPLE:
+ break;
+
+ case DELIVER_SPECIMEN:
+ break;
+
+ case CLIMB_ONE:
+ break;
+
+ case CLIMB_TWO:
+ break;
+
+ case END:
+ break;
+
+ case UNKNOWN:
+ break;
+
+ default:
+ state = TeleOpStates.UNKNOWN;
+ }
+
+ telemetry.addData("State", state);
+ telemetry.update();
+
+ }
+
+
+
+
+
+
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
new file mode 100644
index 0000000..dd04fbc
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
@@ -0,0 +1,14 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+public enum TeleOpStates {
+ INTAKE_SAMPLE,
+ INTAKE_SPECIMEN,
+ DELIVER_SAMPLE,
+ DELIVER_SPECIMEN,
+ DRIVE,
+ CLIMB_ONE,
+ CLIMB_TWO,
+ START,
+ END,
+ UNKNOWN;
+}
From af25c937d3acff908c8e43546e734919f37deecd Mon Sep 17 00:00:00 2001
From: Jack Revoy <jack.revoy75@gmail.com>
Date: Thu, 10 Oct 2024 16:36:49 -0600
Subject: [PATCH 2/2] aurora stupid edits
---
.../ftc/teamcode/teleop/InitialTeleOp.java | 10 +---------
.../ftc/teamcode/teleop/TeleOpStates.java | 2 +-
2 files changed, 2 insertions(+), 10 deletions(-)
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
index 3b36e4d..18fe0b9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/InitialTeleOp.java
@@ -15,7 +15,7 @@
public class InitialTeleOp extends OpMode {
private final ElapsedTime time = new ElapsedTime();
HWC robot; // Declare the object for HWC, will allow us to access all the motors declared there!
- TeleOpStates state; //Creates object of states enum
+ TeleOpStates state; // Creates object of states enum
// init() Runs ONCE after the driver hits initialize
@Override
public void init() {
@@ -87,7 +87,6 @@ public void loop() {
break;
case DRIVE:
-
break;
case INTAKE_SAMPLE:
@@ -120,12 +119,5 @@ public void loop() {
telemetry.addData("State", state);
telemetry.update();
-
}
-
-
-
-
-
-
}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
index dd04fbc..bdd6ff5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleOpStates.java
@@ -10,5 +10,5 @@ public enum TeleOpStates {
CLIMB_TWO,
START,
END,
- UNKNOWN;
+ UNKNOWN
}