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

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This commit is contained in:
NerdyBirdy460
2024-01-09 15:58:33 -06:00
parent 2f265edbfe
commit adf856bb24
2 changed files with 18 additions and 4 deletions
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5
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
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@@ -19,8 +19,7 @@ public class SodiPizzaMinibotObject extends Robot {
public HardwareMap hardwareMap;
public DcMotor leftFront, rightFront, leftBack, rightBack;
// public Servo shoulder, gripper;
public Servo launcher;
public Servo shoulder, gripper, launcher;
public IMU imu;
public Rev2mDistanceSensor distSensor;
private String string;
@@ -71,7 +70,7 @@ public class SodiPizzaMinibotObject extends Robot {
rightBack.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
//Servo Defining
// shoulder = engine.hardwareMap.servo.get("arm");
shoulder = engine.hardwareMap.servo.get("shoulder");
// gripper = engine.hardwareMap.servo.get("gripper");
launcher = engine.hardwareMap.servo.get("launcher");

17
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
View File

@@ -43,6 +43,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
public float getApproxObjPos() {
if (System.currentTimeMillis() - lastDistRead >= 500) {
/*Pseudocode: take objData1, wait, take 2, wait, take 3*/
}
approxObjPos = (objData1 + objData2 + objData3)/3;
return approxObjPos;
@@ -52,6 +53,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
public void telemetry() {
engine.telemetry.addData("Launcher Servo: ", robot.launcher.getPosition());
engine.telemetry.addData("Drone Launched?", droneLaunched);
engine.telemetry.addLine();
engine.telemetry.addData("Arm servo position", robot.shoulder.getPosition());
}
@Override
@@ -99,7 +103,6 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.leftFront.setPower(lfPower);
robot.rightFront.setPower(rfPower);
}
@@ -127,6 +130,18 @@ public class SodiPizzaTeleOPState extends CyberarmState {
}
}
if (engine.gamepad2.left_stick_y > 0.1) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {
robot.shoulder.setPosition(robot.shoulder.getPosition() + 0.05);
lastMoveTime = System.currentTimeMillis();
}
} else if (engine.gamepad2.left_stick_y < -0.1) {
if (System.currentTimeMillis() - lastMoveTime >= 200) {
robot.shoulder.setPosition(robot.shoulder.getPosition() - 0.05);
lastMoveTime = System.currentTimeMillis();
}
}
// // This moves the arm to Collect position, which is at servo position 0.00.
// if (engine.gamepad2.a && !engine.gamepad2.start) {
// armPos = 1;