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Improvements to Red Crab Pilot

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Cyberarm
2023-12-08 20:53:44 -06:00
parent 797c653186
commit b537d04c52
2 changed files with 25 additions and 11 deletions
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10
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -15,9 +15,11 @@ import dev.cyberarm.engine.V2.Utilities;
public class RedCrabMinibot {
/// CLAW ARM ///
public static final int ClawArm_INITIAL = -1; // NO OP match starting position
public static final int ClawArm_STOW = 0;
public static final int ClawArm_DEPOSIT = 1;
public static final int ClawArm_COLLECT = 2;
public static final int ClawArm_COLLECT_FLOAT = 2;
public static final int ClawArm_COLLECT = 3;
/// TUNING CONSTANTS ///
public static final double DRIVETRAIN_MAX_SPEED = 0.5;
@@ -25,12 +27,14 @@ public class RedCrabMinibot {
public static final double CLAW_ARM_kP = 0.025;
public static final double CLAW_ARM_POSITION_TOLERANCE = 3.3;
public static final double WINCH_MAX_SPEED = 0.5;
public static final double CLAW_ARM_STOW_ANGLE = 45.0;
public static final double CLAW_ARM_DEPOSIT_ANGLE = 110.0; // 130.0
public static final double CLAW_ARM_STOW_ANGLE = 45.0; // 45.0
public static final double CLAW_ARM_DEPOSIT_ANGLE = 130.0; // 110.0
public static final double CLAW_ARM_COLLECT_FLOAT_ANGLE = 180.0;
public static final double CLAW_ARM_COLLECT_ANGLE = 200.0;
public static final double CLAW_WRIST_STOW_POSITION = 0.5;
public static final double CLAW_WRIST_DEPOSIT_POSITION = 0.64;
public static final double CLAW_WRIST_COLLECT_FLOAT_POSITION = 0.64;
public static final double CLAW_WRIST_COLLECT_POSITION = 0.64;
public static final double CLAW_LEFT_CLOSED_POSITION = 0.2;

26
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java
View File

@@ -13,7 +13,7 @@ public class Pilot extends CyberarmState {
private boolean leftClawOpen = false;
private boolean rightClawOpen = false;
private int clawArmPosition = RedCrabMinibot.ClawArm_STOW;
private int clawArmPosition = RedCrabMinibot.ClawArm_INITIAL;
private boolean hookArmUp = false;
private boolean droneLaunchAuthorized = false;
private boolean droneLaunchRequested = false;
@@ -61,11 +61,13 @@ public class Pilot extends CyberarmState {
clawArmPosition = RedCrabMinibot.ClawArm_COLLECT;
break;
case "dpad_down":
clawArmPosition = RedCrabMinibot.ClawArm_DEPOSIT;
clawArmPosition = RedCrabMinibot.ClawArm_STOW;
break;
case "dpad_left":
clawArmPosition = RedCrabMinibot.ClawArm_DEPOSIT;
break;
case "dpad_right":
clawArmPosition = RedCrabMinibot.ClawArm_STOW;
clawArmPosition = RedCrabMinibot.ClawArm_COLLECT_FLOAT;
break;
}
}
@@ -123,11 +125,11 @@ public class Pilot extends CyberarmState {
private void clawArmAndWristController() {
switch (clawArmPosition) {
case RedCrabMinibot.ClawArm_STOW:
// robot.clawArm.setTargetPosition(Utilities.motorAngle(
// RedCrabMinibot.CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION,
// RedCrabMinibot.CLAW_ARM_MOTOR_GEAR_RATIO,
// RedCrabMinibot.CLAW_ARM_STOW_ANGLE));
//
robot.clawArm.setTargetPosition(Utilities.motorAngle(
RedCrabMinibot.CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION,
RedCrabMinibot.CLAW_ARM_MOTOR_GEAR_RATIO,
RedCrabMinibot.CLAW_ARM_STOW_ANGLE));
robot.clawWrist.setPosition(RedCrabMinibot.CLAW_WRIST_STOW_POSITION);
break;
case RedCrabMinibot.ClawArm_DEPOSIT:
@@ -138,6 +140,14 @@ public class Pilot extends CyberarmState {
robot.clawWrist.setPosition(RedCrabMinibot.CLAW_WRIST_DEPOSIT_POSITION);
break;
case RedCrabMinibot.ClawArm_COLLECT_FLOAT:
robot.clawArm.setTargetPosition(Utilities.motorAngle(
RedCrabMinibot.CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION,
RedCrabMinibot.CLAW_ARM_MOTOR_GEAR_RATIO,
RedCrabMinibot.CLAW_ARM_COLLECT_FLOAT_ANGLE));
robot.clawWrist.setPosition(RedCrabMinibot.CLAW_WRIST_COLLECT_FLOAT_POSITION);
break;
case RedCrabMinibot.ClawArm_COLLECT:
robot.clawArm.setTargetPosition(Utilities.motorAngle(
RedCrabMinibot.CLAW_ARM_MOTOR_TICKS_PER_REVOLUTION,