TimeCrafters/CenterStage
1
0
Fork 0
mirror of https://github.com/TimeCrafters/CenterStage synced 2025-12-12 23:32:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

I don't get paid enough for this ¯\_(ツ)_/¯

Browse Source
This commit is contained in:
NerdyBirdy460
2024-01-25 20:30:55 -06:00
parent acc7b63b3b
commit 633f6fa0f8
2 changed files with 137 additions and 138 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
View File

@@ -71,7 +71,7 @@ public class SodiPizzaMinibotObject extends Robot {
//Servo Defining
shoulder = engine.hardwareMap.servo.get("shoulder");
// gripper = engine.hardwareMap.servo.get("gripper");
gripper = engine.hardwareMap.servo.get("gripper");
launcher = engine.hardwareMap.servo.get("launcher");
//Distance Sensor

273
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
View File

@@ -29,7 +29,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
public double approxObjPos /* <- Approximate distance away the nearest obstruction is */, objData1, objData2, objData3;
private double lfPower, rfPower, lbPower, rbPower;
private float yTransitPercent, xTransitPercent, rotPercent, percentDenom;
private int objectPos;
private int objectPos, armPos;
private boolean droneLaunched;
private char buttonPressed;
private GamepadChecker gp1checker, gp2checker;
@@ -98,10 +98,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
if(System.currentTimeMillis() - startingTime <= 2000) {
getApproxObjPos();
}
/*Driving can now differentiate between positive and negative directions, but now it's acting like
the directions of left stick are switched with eachother (Forward/backward moves robot left/right and vice versa)*/
/*Driving is almost all normal hopefully.*/
double y = -engine.gamepad1.left_stick_y; // Remember, Y stick value is reversed
double y = engine.gamepad1.left_stick_y; // Remember, Y stick value is reversed
double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.right_stick_x;
@@ -156,140 +155,140 @@ the directions of left stick are switched with eachother (Forward/backward moves
}
}
// // This moves the arm to Collect position, which is at servo position 0.00.
// if (engine.gamepad2.a && !engine.gamepad2.start) {
// armPos = 1;
// }
//
// if (armPos == 1) {
//
// buttonPressed = 'a';
//
// if (Math.abs(drivePower) > 0.25) {
// drivePower = 0.15;
// robot.leftFront.setPower(drivePower);
// robot.leftBack.setPower(drivePower);
// robot.rightFront.setPower(drivePower);
// robot.rightBack.setPower(drivePower);
// } else {
// //if servo's position is greater than Collect position with a run-to tolerance of 0.05,
// //decrement position at a rate of 0.05 per 150 milliseconds.
// if (robot.shoulder.getPosition() > ARM_PRECOLLECT && System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
// lastMoveTime = System.currentTimeMillis();
// } else if (System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(ARM_COLLECT);
// armPos = 0;
// }
//
// }
//
// }
// //End of code for armPos = 1
//
// // This moves the arm to Precollect position, which is at servo position 0.05.
// if (engine.gamepad2.x) {
// armPos = 2;
// }
//
// if (armPos == 2) {
//
// buttonPressed = 'x';
//
// if (Math.abs(drivePower) > 0.25) {
// drivePower = 0.15;
// robot.leftFront.setPower(drivePower);
// robot.leftBack.setPower(drivePower);
// robot.rightFront.setPower(drivePower);
// robot.rightBack.setPower(drivePower);
// } else {
// //if servo's position is greater than Precollect position with a run-to tolerance of 0.05,
// //decrement position at a rate of 0.05 per 150 milliseconds.
// if (robot.shoulder.getPosition() > ARM_PRECOLLECT + 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
// lastMoveTime = System.currentTimeMillis();
// }//Incrementing from Collect position is unnecessary, because Collect is within the tolerance of run-to.
// else if (System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(ARM_PRECOLLECT);
// armPos = 0;
// }
//
// }
// }
// //End of code for armPos = 2
//
// // This moves the arm to Deliver position, which is at servo position 0.28.
// if (engine.gamepad2.b && !engine.gamepad2.start) {
// armPos = 3;
// }
//
// if (armPos == 3) {
//
// buttonPressed = 'b';
//
// if (Math.abs(drivePower) > 0.25) {
// drivePower = 0.15;
// robot.leftFront.setPower(drivePower);
// robot.leftBack.setPower(drivePower);
// robot.rightFront.setPower(drivePower);
// robot.rightBack.setPower(drivePower);
// } else {
// //if servo's position is less than Deliver position with a run-to tolerance of 0.05,
// //increment position at a rate of 0.05 per 150 milliseconds.
// if (robot.shoulder.getPosition() < ARM_DELIVER - 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
// lastMoveTime = System.currentTimeMillis();
// }//if servo's position is greater than Deliver position with a run-to tolerance of 0.05,
// //decrement position at a rate of 0.05 per 150 milliseconds.
// else if (robot.shoulder.getPosition() > ARM_DELIVER + 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
// lastMoveTime = System.currentTimeMillis();
// } else if (System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(ARM_DELIVER);
// armPos = 0;
// }
//
// }
// }
// //End of code for armPos = 3
//
// // This moves the arm to Stow position, which is at servo position 0.72.
// if (engine.gamepad2.y) {
// armPos = 4;
// }
//
// if (armPos == 4) {
//
// buttonPressed = 'y';
//
// if (Math.abs(drivePower) > 0.25) {
// drivePower = 0.15;
// robot.leftFront.setPower(drivePower);
// robot.leftBack.setPower(drivePower);
// robot.rightFront.setPower(drivePower);
// robot.rightBack.setPower(drivePower);
// } else {
// //if servo's position is less than Collect position with a run-to tolerance of 0.05,
// //increment position at a rate of 0.05 per 150 milliseconds.
// if (robot.shoulder.getPosition() < ARM_STOW - 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
// lastMoveTime = System.currentTimeMillis();
// }
// //Decrementing is unnecessary, because servo is mechanically inhibited from further advancing.
// else if (System.currentTimeMillis() - lastMoveTime >= 150) {
// robot.shoulder.setPosition(ARM_STOW);
// armPos = 0;
// }
//
// }
// }
//End of code for armPos = 4
// This moves the arm to Collect position, which is at servo position 0.00.
if (engine.gamepad2.a && !engine.gamepad2.start) {
armPos = 1;
}
// if (engine.gamepad2.dpad_left) {
// robot.gripper.setPosition(GRIPPER_OPEN);
// } else if (engine.gamepad2.dpad_right) {
// robot.gripper.setPosition(GRIPPER_CLOSED);
// }
if (armPos == 1) {
buttonPressed = 'a';
if (Math.abs(drivePower) > 0.15) {
drivePower = 0.15;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
} else {
//if servo's position is greater than Collect position with a run-to tolerance of 0.05,
//decrement position at a rate of 0.05 per 150 milliseconds.
if (robot.shoulder.getPosition() > ARM_PRECOLLECT && System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
lastMoveTime = System.currentTimeMillis();
} else if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(ARM_COLLECT);
armPos = 0;
}
}
}
//End of code for armPos = 1
// This moves the arm to Precollect position, which is at servo position 0.05.
if (engine.gamepad2.x) {
armPos = 2;
}
if (armPos == 2) {
buttonPressed = 'x';
if (Math.abs(drivePower) > 0.15) {
drivePower = 0.15;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
} else {
//if servo's position is greater than Precollect position with a run-to tolerance of 0.05,
//decrement position at a rate of 0.05 per 150 milliseconds.
if (robot.shoulder.getPosition() > ARM_PRECOLLECT + 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
lastMoveTime = System.currentTimeMillis();
}//Incrementing from Collect position is unnecessary, because Collect is within the tolerance of run-to.
else if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(ARM_PRECOLLECT);
armPos = 0;
}
}
}
//End of code for armPos = 2
// This moves the arm to Deliver position, which is at servo position 0.28.
if (engine.gamepad2.b && !engine.gamepad2.start) {
armPos = 3;
}
if (armPos == 3) {
buttonPressed = 'b';
if (Math.abs(drivePower) > 0.15) {
drivePower = 0.15;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
} else {
//if servo's position is less than Deliver position with a run-to tolerance of 0.05,
//increment position at a rate of 0.05 per 150 milliseconds.
if (robot.shoulder.getPosition() < ARM_DELIVER - 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
lastMoveTime = System.currentTimeMillis();
}//if servo's position is greater than Deliver position with a run-to tolerance of 0.05,
//decrement position at a rate of 0.05 per 150 milliseconds.
else if (robot.shoulder.getPosition() > ARM_DELIVER + 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
lastMoveTime = System.currentTimeMillis();
} else if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(ARM_DELIVER);
armPos = 0;
}
}
}
//End of code for armPos = 3
// This moves the arm to Stow position, which is at servo position 0.72.
if (engine.gamepad2.y) {
armPos = 4;
}
if (armPos == 4) {
buttonPressed = 'y';
if (Math.abs(drivePower) > 0.15) {
drivePower = 0.15;
robot.leftFront.setPower(drivePower);
robot.leftBack.setPower(drivePower);
robot.rightFront.setPower(drivePower);
robot.rightBack.setPower(drivePower);
} else {
//if servo's position is less than Collect position with a run-to tolerance of 0.05,
//increment position at a rate of 0.05 per 150 milliseconds.
if (robot.shoulder.getPosition() < ARM_STOW - 0.05 && System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
lastMoveTime = System.currentTimeMillis();
}
//Decrementing is unnecessary, because servo is mechanically inhibited from further advancing.
else if (System.currentTimeMillis() - lastMoveTime >= 150) {
robot.shoulder.setPosition(ARM_STOW);
armPos = 0;
}
}
}
// End of code for armPos = 4
if (engine.gamepad2.dpad_left) {
robot.gripper.setPosition(GRIPPER_OPEN);
} else if (engine.gamepad2.dpad_right) {
robot.gripper.setPosition(GRIPPER_CLOSED);
}
gp1checker.update();
gp2checker.update();