TimeCrafters/CenterStage
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Pizza bot - Still working on the field centric drive and arm has been commented out.

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This commit is contained in:
NerdyBirdy460
2024-01-06 12:47:09 -06:00
parent 5f2bb56fed
commit 1dc28841f1
2 changed files with 22 additions and 43 deletions
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3
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/MiniYTeleOPBot.java
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@@ -30,7 +30,8 @@ public class MiniYTeleOPBot extends Robot {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
CyberarmEngine engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Minibot Yellow");
// configuration = new TimeCraftersConfiguration("Minibot Yellow");
configuration = new TimeCraftersConfiguration();
imu = engine.hardwareMap.get(IMU.class, "imu");

62
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
View File

@@ -78,52 +78,30 @@ public class SodiPizzaTeleOPState extends CyberarmState {
@Override
public void exec() {
if (Math.abs(engine.gamepad1.left_stick_y) < minInput &&
Math.abs(engine.gamepad1.left_stick_x) < minInput &&
Math.abs(engine.gamepad1.right_stick_x) < minInput){
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
double x = engine.gamepad1.left_stick_x;
double rx = engine.gamepad1.right_stick_x;
double lbPower = (y - x + rx);
double rbPower = (y + x - rx);
double lfPower = (y + x + rx);
double rfPower = (y - x - rx);
robot.leftFront.setPower(lfPower * drivePower);
robot.leftBack.setPower(lbPower * drivePower);
robot.rightFront.setPower(rfPower * drivePower);
robot.rightBack.setPower(rbPower * drivePower);
if (engine.gamepad1.left_stick_x > 0.1) {
robot.leftBack.setPower(lbPower);
robot.rightBack.setPower(rbPower);
robot.leftFront.setPower(lfPower);
robot.rightFront.setPower(rfPower);
drivePower = 0;
robot.leftFront.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightBack.setPower(drivePower);
}
if (Math.abs(yTransitPercent) > 0.01) {
percentDenom = 100;
} else {
percentDenom = 0;
}
if (Math.abs(xTransitPercent) > 0.01) {
percentDenom = percentDenom + 100;
}
if (Math.abs(rotPercent) > 0.01) {
percentDenom = percentDenom + 100;
}
yTransitPercent = engine.gamepad1.left_stick_y * 100;
xTransitPercent = engine.gamepad1.left_stick_x * 100;
rotPercent = engine.gamepad1.right_stick_x * -100;
lfPower = ((yTransitPercent + -xTransitPercent + rotPercent) / percentDenom);
robot.leftFront.setPower(lfPower);
rfPower = ((yTransitPercent + xTransitPercent + -rotPercent) / percentDenom);
robot.rightFront.setPower(rfPower);
lbPower = ((yTransitPercent + xTransitPercent + rotPercent) / percentDenom);
robot.leftBack.setPower(lbPower);
rbPower = ((yTransitPercent + -xTransitPercent + -rotPercent) / percentDenom);
robot.rightBack.setPower(rbPower);
if (engine.gamepad2.left_stick_button) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {