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debugging

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This commit is contained in:
scott
2023-12-04 21:03:26 -06:00
parent aee541b540
commit 208d7c1513
3 changed files with 12 additions and 11 deletions
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14
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -18,7 +18,7 @@ public class RedCrabMinibot {
public static final int ClawArm_COLLECT = 2;
/// TUNING CONSTANTS ///
public static final double DRIVETRAIN_MAX_SPEED = 0.5;
public static final double DRIVETRAIN_MAX_SPEED = 1.0;
public static final double CLAW_ARM_MAX_SPEED = 0.5;
public static final double WINCH_MAX_SPEED = 0.5;
public static final double CLAW_ARM_STOW_ANGLE = 0.0;
@@ -38,8 +38,8 @@ public class RedCrabMinibot {
public static final double DRONE_LATCH_LAUNCH_POSITION = 0.5;
public static final int DRONE_LAUNCH_CONFIRMATION_TIME_MS = 1_000;
public static final double HOOK_ARM_STOW_POSITION = 0.0;
public static final double HOOK_ARM_UP_POSITION = 0.5;
public static final double HOOK_ARM_STOW_POSITION = 0.8; // just off of airplane 0.8
public static final double HOOK_ARM_UP_POSITION = 0.4; // streight up4.0
/// MOTOR CONSTANTS ///
public static final int CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION = 4;
@@ -78,10 +78,10 @@ public class RedCrabMinibot {
backRight.resetEncoder();
/// --- MOTOR DIRECTIONS
frontLeft.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
frontRight.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
backLeft.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
backRight.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
frontLeft.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
frontRight.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
backLeft.motorEx.setDirection(DcMotorSimple.Direction.REVERSE);
backRight.motorEx.setDirection(DcMotorSimple.Direction.FORWARD);
/// --- MOTOR BRAKING MODE
/// --- NOTE: Having BRAKE mode set for drivetrain helps with consistently of control

6
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
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@@ -27,10 +27,10 @@ public class Pilot extends CyberarmState {
public void exec() {
drivetrain();
// clawArmAndWristController();
clawArmAndWristController();
// clawController();
// droneLatchController();
// hookArmController();
// hookArmController(); // disabled for swrist debug
// winchController();
}
@@ -149,7 +149,7 @@ public class Pilot extends CyberarmState {
}
robot.clawArm.set(RedCrabMinibot.CLAW_ARM_MAX_SPEED);
robot.clawArm.set(RedCrabMinibot. CLAW_ARM_MAX_SPEED);
}
private void clawController() {