TimeCrafters/CenterStage
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Back to robot-centric :(

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This commit is contained in:
NerdyBirdy460
2024-02-13 20:50:45 -06:00
parent 4450c7e48a
commit 3424549d61
1 changed files with 9 additions and 3 deletions
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12
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
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@@ -85,7 +85,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
// lastToldAngle = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
gp1checker = new GamepadChecker(engine, engine.gamepad1);
gp2checker = new GamepadChecker(engine, engine.gamepad1);
gp2checker = new GamepadChecker(engine, engine.gamepad2);
lastMoveTime = System.currentTimeMillis();
lastDistRead = System.currentTimeMillis();
@@ -138,6 +138,12 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.imu.resetYaw();
}
if (Math.abs(robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES)) > 0.000001 &&
Math.abs(robot.imu.getRobotYawPitchRollAngles().getPitch(AngleUnit.DEGREES)) > 0.000001 &&
Math.abs(robot.imu.getRobotYawPitchRollAngles().getRoll(AngleUnit.DEGREES)) > 0.000001) {
robot.imu.resetYaw();
}
if (engine.gamepad1.left_stick_button) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {
robot.launcher.setPosition(0.98);
@@ -163,12 +169,12 @@ public class SodiPizzaTeleOPState extends CyberarmState {
}
if (engine.gamepad1.dpad_up) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {
if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
lastMoveTime = System.currentTimeMillis();
}
} else if (engine.gamepad1.dpad_down) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {
if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
lastMoveTime = System.currentTimeMillis();
}