collected ball better

BrickFireRobotics · Jun 3, 2022 · 6ff5982 · 6ff5982
1 parent 9cd8fcf
commit 6ff5982
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Showing 4 changed files with 43 additions and 31 deletions.
diff --git a/src/team/brickfire/RunWRO.java b/src/team/brickfire/RunWRO.java
@@ -47,6 +47,7 @@ public static void main(String[] args) {
         ActionsRoom test = new ActionsRoom(robot);
         test.scanBlock(true);
         new ActionsLaundry(robot).collectBlock(true);
-        new ActionsWater(robot).deliver(true);
+        //new ActionsWater(robot).deliver(true);
+        test.playGame(true);
     }
 }
diff --git a/src/team/brickfire/actions/ActionsLaundry.java b/src/team/brickfire/actions/ActionsLaundry.java
@@ -27,15 +27,17 @@ public ActionsLaundry(Robot robot) {
     }
 
     public void collectBlock(boolean forward) {
-        robot.arm().closeClawTo(-90);
-        robot.arm().moveArmTo(145);
-        robot.travel(-8);
-        robot.scanner().getColorID();
-        robot.travel(-2);
-        robot.arm().closeClawTo(-20);
-        robot.arm().moveArmTo(-110);
-        robot.arm().closeClawTo(-150);
-        robot.travel(-10);
+        if (forward == true) {
+            robot.travel(-7.95);
+            robot.arm().closeClawTo(-200);
+            robot.arm().moveArmTo(135);
+            robot.scanner().getColorID();
+            robot.travel(-2);
+            robot.arm().closeClawTo(-20);
+            robot.arm().moveArmTo(-110);
+            robot.arm().closeClawTo(-150);
+            robot.travel(-10);
+        } else {}
     }
 
 }
diff --git a/src/team/brickfire/actions/ActionsRoom.java b/src/team/brickfire/actions/ActionsRoom.java
@@ -24,24 +24,28 @@ public ActionsRoom(Robot robot) {
     }
 
     public void scanBlock (boolean forward) {
-        isRoomGame = robot.scanner().isColor(Color.GREEN);
-        robot.arm().moveArmTo(175);
-        robot.travel(-2.8);
-        robot.arm().moveArmTo(-150);
+        if (forward == true) {
+            isRoomGame = robot.scanner().isColor(Color.GREEN);
+            robot.arm().moveArmTo(175);
+            robot.travel(-2.8);
+            robot.arm().moveArmTo(-150);
+        } else {}
     }
 
     public void playGame (boolean forward) {
-        robot.arm().moveArmTo(-200);
-        robot.travel(-8);
-        robot.motorLeft().rotate(-100);
-        robot.arm().closeClawTo(30);
-        robot.arm().moveArmTo(0);
-        robot.motorLeft().rotate(-260);
-        robot.travel(-4.5);
-        robot.arm().moveArmTo(-350);
-        robot.motorRight().rotate(-35);
-        robot.travel(-7.5);
-        robot.arm().closeClawTo(-260);
+        if (forward == true) {
+            robot.arm().moveArmTo(-200);
+            robot.travel(-8);
+            robot.motorLeft().rotate(-100);
+            robot.arm().closeClawTo(-30);
+            robot.arm().moveArmTo(0);
+            robot.motorLeft().rotate(-260);
+            robot.travel(-4.5);
+            robot.motorRight().rotate(-35);
+            robot.arm().moveArmTo(-350);
+            robot.travel(-7.8);
+            robot.arm().closeClawTo(-260);
+        } else {}
     }
 }
 

diff --git a/src/team/brickfire/actions/ActionsWater.java b/src/team/brickfire/actions/ActionsWater.java
@@ -36,15 +36,20 @@ public void collectBottles() {
     }
 
     public void deliver(boolean forward) {
-        robot.turn(100);
-        robot.travel(-17);
-        robot.travel(6.5);
-        robot.arm().moveArmTo(110);
-        robot.arm().closeClawTo(0);
-        robot.arm().moveArmTo(-310);
+        if (forward == true) {
+            robot.turn(100);
+            robot.travel(-17);
+            robot.travel(6.5);
+            robot.arm().moveArmTo(110);
+            robot.arm().closeClawTo(0);
+            robot.arm().moveArmTo(-310);
+        } else {}
     }
 
     public void skip(boolean forward) {
+        if (forward == true) {
+
+        } else {}
 
     }
 }