TimeCrafters/CenterStage
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Minibot drive, coding "correctly"

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This commit is contained in:
NerdyBirdy460
2023-11-08 16:49:20 -06:00
parent 007921bd38
commit 79185fa169
1 changed files with 13 additions and 4 deletions
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17
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java
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@@ -20,7 +20,7 @@ public class MiniYellowTeleOPv2 extends CyberarmState {
public MotorEx flDrive, frDrive, blDrive, brDrive;
public IMU imu;
private double flPower, frPower, blPower, brPower;
private float lStickY, transitPercent;
private float lStickY, transitPercent, rotPercent;
public TimeCraftersConfiguration configuration;
@Override
@@ -28,7 +28,7 @@ public class MiniYellowTeleOPv2 extends CyberarmState {
this.hardwareMap = CyberarmEngine.instance.hardwareMap;
CyberarmEngine engine = CyberarmEngine.instance;
configuration = new TimeCraftersConfiguration("Minibot Yellow");
// configuration = new TimeCraftersConfiguration("Minibot Yellow");
imu = engine.hardwareMap.get(IMU.class, "imu");
@@ -64,10 +64,19 @@ public class MiniYellowTeleOPv2 extends CyberarmState {
}
@Override
public void telemetry() {
engine.telemetry.addData("FLPower", flPower);
engine.telemetry.addData("Transit %", transitPercent);
engine.telemetry.addData("L Stick Y", lStickY);
engine.telemetry.update();
}
@Override
public void exec () {
transitPercent = -engine.gamepad1.left_stick_y * 100;
flPower = lStickY / 100;
transitPercent = engine.gamepad1.left_stick_y * 100;
rotPercent = engine.gamepad1.right_stick_x * -100;
flPower = ((transitPercent + rotPercent) / Math.abs(transitPercent + rotPercent));
flDrive.motor.setPower(flPower);
}