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Simplification of class files

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This commit is contained in:
Carlos Rivas
2024-12-25 15:08:36 -08:00
parent c824580b33
commit c63319f9c4
2 changed files with 40 additions and 96 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java
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@ -5,20 +5,20 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
@TeleOp(name = "CometBot Auto", group = "Development")
@TeleOp(name = "CometBot Auto v2", group = "Development")
public class CometBotDevAuto extends OpMode {
public CometBotAutoDevelopment runMode;
@Override
public void init() {
this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
this.runMode.init();
runMode = new CometBotAutoDevelopment(hardwareMap, gamepad1, gamepad2);
runMode.init();
}
@Override
public void loop() {
this.runMode.update();
runMode.update();
telemetry.update();
}
}

128
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
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@ -15,6 +15,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.states.FieldStates;
import org.firstinspires.ftc.teamcode.subsystem.DualMotorSliderSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
public class CometBotAutoDevelopment {
@ -22,121 +23,64 @@ public class CometBotAutoDevelopment {
/*
Subsystems
*/
private MotorsSubsystem motors;
private DualMotorSliderSubsystem dualSlides;
/*
Controllers
*/
public Gamepad GP1;
public Gamepad GP2;
public Gamepad currentGP1;
public Gamepad previousGP1;
public Gamepad currentGP2;
public Gamepad previousGP2;
private Telemetry telemetry;
public FieldStates fieldStates;
private boolean centricity = false;
public Gamepad gamepad1;
public Gamepad gamepad2;
public Gamepad currentGamepad1;
public Gamepad currentGamepad2;
public Gamepad previousGamepad1;
public Gamepad previousGamepad2;
private Follower follower;
private HardwareMap hardwareMap;
public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
this.motors = new MotorsSubsystem(hardwareMap, telemetry);
this.GP1 = gp1;
this.GP2 = gp2;
this.hardwareMap = hardwareMap;
this.telemetry = telemetry;
this.currentGP1 = new Gamepad();
this.currentGP2 = new Gamepad();
this.previousGP1 = new Gamepad();
this.previousGP2 = new Gamepad();
this.fieldStates = new FieldStates();
this.follower = new Follower(hardwareMap);
public CometBotAutoDevelopment(HardwareMap hardwareMap, Gamepad gamepad1, Gamepad gamepad2) {
dualSlides = new DualMotorSliderSubsystem(hardwareMap);
this.gamepad1 = gamepad1;
this.gamepad2 = gamepad2;
currentGamepad1 = new Gamepad();
currentGamepad2 = new Gamepad();
previousGamepad1 = new Gamepad();
previousGamepad2 = new Gamepad();
follower = new Follower(hardwareMap);
}
public class ZeroOutPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(0);
System.out.println("Running ZeroOutPower");
return follower.isBusy();
}
}
public class ReturnToMaxPower implements Action {
@Override
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
follower = new Follower(hardwareMap);
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
System.out.println("Running ReturnToMaxPower");
return follower.isBusy();
}
}
public Action zeroOutPower() {
return new ZeroOutPower();
}
public Action returnToMaxPower() {
return new ReturnToMaxPower();
}
public void init() {
this.motors.init();
this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
dualSlides.init();
follower.setMaxPower(MAX_POWER);
follower.startTeleopDrive();
}
public void update() {
this.previousGP1.copy(currentGP1);
this.currentGP1.copy(this.GP1);
this.previousGP2.copy(currentGP2);
this.currentGP2.copy(this.GP2);
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
this.toFixMotorBlockingIssueFirstMethod();
this.toFixMotorBlockingIssueSecondMethod();
this.changeCentricity();
/*
Check if dpad_up/down is being pressed for slides
*/
dualSlides.update();
dualSlidesToLowBucketPosition();
dualSlidesToHighBucketPosition();
follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
follower.update();
this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
}
public void changeCentricity() {
if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
this.centricity = !centricity;
this.follower.breakFollowing();
this.follower.startTeleopDrive();
private void dualSlidesToHighBucketPosition() {
if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
dualSlides.toHighBucketPosition();
}
}
public void toFixMotorBlockingIssueFirstMethod() {
if (this.currentGP1.cross && !this.previousGP1.cross) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
this.zeroOutPower(),
new SleepAction(3),
this.returnToMaxPower()
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
private void dualSlidesToLowBucketPosition() {
if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
dualSlides.toLowBucketPosition();
}
}
public void toFixMotorBlockingIssueSecondMethod() {
if (this.currentGP1.circle && !this.previousGP1.circle) {
this.follower.breakFollowing();
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
Actions.runBlocking(new SequentialAction(
new SleepAction(3)
));
fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
this.follower.startTeleopDrive();
}
}
}