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PathPlanning/src/main/kotlin/com/example/pathplanning/legacy/blue/main/BlueAuto.kt
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|---|---|---|
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| package com.example.pathplanning.legacy.blue.main | ||
| package com.example.meepmeeptesting | ||
|
|
||
| //object BlueAuto { | ||
| // @JvmStatic | ||
| // | ||
| // fun main(args: Array<String>) { | ||
| // val meepMeep = MeepMeep(800) | ||
| // | ||
| // val myBot = | ||
| // DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width | ||
| // .setConstraints(30.0, 30.0, Math.toRadians(170.0), Math.toRadians(170.0), 13.94) | ||
| // .followTrajectorySequence { drive -> | ||
| // drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians())) | ||
| // .addTemporalMarker(0.1,) { | ||
| // //add the command for the arm to go up | ||
| // //add command for belt servo to go backwards | ||
| // //add the command to add the slides go up | ||
| // } | ||
| // .splineToLinearHeading(Pose2d(55.0, 55.0, Math.toRadians(225.0)), Math.toRadians(0.0)) | ||
| // .addDisplacementMarker { | ||
| // //add command for rollers servo to outtake | ||
| // } | ||
| // .turn(Math.toRadians(30.0)) // | ||
| // .addTemporalMarker(6.0) { | ||
| // //add command for arm to go down | ||
| // //add command for slides to go out | ||
| // //add command to belt servo to go at [x] angle | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to intake | ||
| // } | ||
| // .turn(Math.toRadians(-30.0)) // | ||
| // .addTemporalMarker() { | ||
| // //add command to bring slides in | ||
| // //add command to bring arm up | ||
| // //add command to put slides out | ||
| // //add command to turn belt servo | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to outtake | ||
| // } | ||
| // .turn(Math.toRadians(55.0)) // | ||
| // .addTemporalMarker() { | ||
| // //add command to bring slides in | ||
| // //add command to bring arm down | ||
| // //add command to put slides out | ||
| // //add command to turn belt servo | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to intake | ||
| // } | ||
| // .turn(Math.toRadians(-55.0)) // | ||
| // .addTemporalMarker() { | ||
| // //add command to bring slides in | ||
| // //add command to bring arm up | ||
| // //add command to put slides out | ||
| // //add command to turn belt servo | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to outtake | ||
| // } | ||
| // .turn(Math.toRadians(80.0)) // | ||
| // .addTemporalMarker() { | ||
| // //add command to bring slides in | ||
| // //add command to bring arm down | ||
| // //add command to put slides out | ||
| // //add command to turn belt servo | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to intake | ||
| // } | ||
| // .turn(Math.toRadians(-80.0)) // | ||
| // .addTemporalMarker() { | ||
| // //add command to bring slides in | ||
| // //add command to bring arm up | ||
| // //add command to put slides out | ||
| // //add command to turn belt servo | ||
| // } | ||
| // .addDisplacementMarker { | ||
| // //add command to outtake | ||
| // } | ||
| // .splineToSplineHeading(Pose2d(36.0, 12.0, Math.toRadians(-180.0)), Math.toRadians(-90.0)) | ||
| // .addDisplacementMarker { | ||
| // //add command to bring arm up | ||
| // //add command to bring slides out | ||
| // } | ||
| // | ||
| // | ||
| // | ||
| // | ||
| // .build() | ||
| // } | ||
| // var img: Image? = null | ||
| // try { | ||
| // img = ImageIO.read(File("C://Users//arava//Downloads//field.png/")) | ||
| // } catch (_ : IOException) { | ||
| // | ||
| // } | ||
| // | ||
| // if (img != null) { | ||
| // meepMeep.setBackground(img) | ||
| // .setDarkMode(true) | ||
| // .setBackgroundAlpha(0.95f) | ||
| // .addEntity(myBot) | ||
| // .start() | ||
| // } | ||
| // } | ||
| //} | ||
| import com.acmerobotics.roadrunner.Pose2d | ||
| import com.noahbres.meepmeep.MeepMeep | ||
| import com.noahbres.meepmeep.MeepMeep.Background | ||
| import com.noahbres.meepmeep.core.toDegrees | ||
| import com.noahbres.meepmeep.core.toRadians | ||
| import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder | ||
|
|
||
| object MeepMeepTesting { | ||
| @JvmStatic | ||
| fun main(args: Array<String>) { | ||
| val meepMeep = MeepMeep(800) | ||
|
|
||
| val myBot = | ||
| DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width | ||
| .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(180.0), 15.0) | ||
| .build() | ||
|
|
||
| myBot.runAction( | ||
| myBot.drive.actionBuilder(Pose2d(14.0, -62.0, 90.0.toRadians())) | ||
|
|
||
| .splineToLinearHeading(Pose2d(0.0,-34.0,90.0.toRadians()),90.0.toRadians()) | ||
| .waitSeconds(0.1) | ||
| .splineToLinearHeading(Pose2d(16.0,-60.0,0.0.toRadians()),0.0.toRadians()) | ||
| .splineToLinearHeading(Pose2d(34.0,0.0,0.0.toRadians()),90.0.toRadians()) | ||
| .splineToLinearHeading(Pose2d(24.0,0.0,0.0.toRadians()),90.0.toRadians()) | ||
| .build() | ||
| ) | ||
|
|
||
| meepMeep.setBackground(Background.FIELD_INTO_THE_DEEP_JUICE_DARK) | ||
| .setDarkMode(true) | ||
| .setBackgroundAlpha(0.95f) | ||
| .addEntity(myBot) | ||
| .start() | ||
| } | ||
| } |