Examples with Shifter me.wobblyyyy.pathfinder2.utils.Shifter used on opensource projects

Example 1 with Shifter

use of me.wobblyyyy.pathfinder2.utils.Shifter in project Pathfinder2 by Wobblyyyy.

the class ExampleElevator method exampleShifterElevator.

public void exampleShifterElevator() {
    Pathfinder pathfinder = Pathfinder.newSimulatedPathfinder(0.01);
    Map<Integer, Integer> levels = new HashMap<Integer, Integer>() {

        {
            put(1, 100);
            put(2, 200);
            put(3, 300);
            put(4, 400);
            put(5, 500);
        }
    };
    Controller controller = new ProportionalController(0.001);
    Shifter shifter = new Shifter(1, 1, 5, false, gear -> {
        int target = levels.get(gear);
        controller.setTarget(target);
    });
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::aButton, b -> b, b -> shifter.shift(ShifterDirection.UP));
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::bButton, b -> b, b -> shifter.shift(ShifterDirection.DOWN));
    pathfinder.onTick(pf -> {
        int elevatorPosition = getPosition();
        double elevatorPower = controller.calculate(elevatorPosition);
        setElevatorPower(elevatorPower);
    });
}

Example 2 with Shifter

use of me.wobblyyyy.pathfinder2.utils.Shifter in project Pathfinder2 by Wobblyyyy.

the class ExampleListeners method exampleShifter.

@SuppressWarnings("InfiniteLoopStatement")
public void exampleShifter() {
    Pathfinder pathfinder = Pathfinder.newSimulatedPathfinder(0.01);
    Shifter shifter = new Shifter(1, 1, 5, false, s -> {
    });
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::aButton, b -> b, b -> shifter.shift(ShifterDirection.UP));
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::bButton, b -> b, b -> shifter.shift(ShifterDirection.DOWN));
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::xButton, b -> b, b -> shifter.setGear(1));
    pathfinder.getListenerManager().bind(ListenerMode.CONDITION_NEWLY_MET, this::yButton, b -> b, b -> shifter.setGear(5));
    while (true) {
        pathfinder.tick();
    }
}

Example 3 with Shifter

use of me.wobblyyyy.pathfinder2.utils.Shifter in project Pathfinder2 by Wobblyyyy.

the class ExampleTeleOp method exampleTeleOpListeners.

@SuppressWarnings("deprecation")
public void exampleTeleOpListeners() {
    Pathfinder pathfinder = Pathfinder.newSimulatedPathfinder(0.01);
    AtomicReference<Double> multiplier = new AtomicReference<>(0.5);
    Shifter shifter = new Shifter(1, 1, 5, false, i -> {
    });
    Joystick right = new Joystick(() -> 0d, () -> 0d);
    Joystick left = new Joystick(() -> 0d, () -> 0d);
    Button a = new Button(() -> false);
    Button b = new Button(() -> false);
    Button rightBumper = new Button(() -> false);
    Button leftBumper = new Button(() -> false);
    // bind the following controls:
    // a button       -> shift elevator up a gear
    // b button       -> shift elevator down a gear
    // right bumper   -> set the multiplier to 1.0 (full speed)
    // left bumper    -> set the multiplier to 0.25 (slowest speed)
    // neither bumper -> set the multiplier to 0.5 (normal speed)
    pathfinder.getListenerManager().bind(// whenever the right bumper is pressed (even if held)...
    ListenerMode.CONDITION_IS_MET, rightBumper::isPressed, isPressed -> isPressed, isPressed -> multiplier.set(1.0)).bind(// whenever the left bumper is pressed (even if held)...
    ListenerMode.CONDITION_IS_MET, leftBumper::isPressed, isPressed -> isPressed, isPressed -> multiplier.set(0.25)).bind(// whenever neither bumper is pressed...
    ListenerMode.CONDITION_IS_NOT_MET, () -> SupplierFilter.anyTrue(rightBumper::isPressed, leftBumper::isPressed), isPressed -> isPressed, isPressed -> multiplier.set(0.5)).bind(// whenever the a button is initially pressed...
    ListenerMode.CONDITION_NEWLY_MET, () -> SupplierFilter.trueThenAllTrue(// a must be pressed
    a::isPressed, // a must NOT be pressed
    b::isPressed), isPressed -> isPressed, isPressed -> shifter.shift(ShifterDirection.UP)).bind(// whenever the b button is initially pressed...
    ListenerMode.CONDITION_NEWLY_MET, () -> SupplierFilter.trueThenAllTrue(// b must be pressed
    a::isPressed, // a must NOT be pressed
    b::isPressed), isPressed -> isPressed, isPressed -> shifter.shift(ShifterDirection.DOWN));
    pathfinder.onTick(pf -> {
        double m = multiplier.get();
        double vertical = right.getX();
        double horizontal = right.getY();
        double turn = left.getX();
        Translation translation = new Translation(vertical * m, horizontal * m, turn * m);
        pf.setTranslation(translation);
    }).onTick(pf -> {
    // some magic code that updates the elevator based on
    // what level it's currently on and what level it's
    // trying to get to
    });
    while (true) pathfinder.tick();
}