TimeCrafters/CenterStage
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More work on Pizza bot's teleop

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This commit is contained in:
NerdyBirdy460
2023-12-16 12:04:26 -06:00
parent 146d2f6a51
commit bb5e242eb0
2 changed files with 19 additions and 11 deletions
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3
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/SodiPizzaTeleOPEngine.java
View File

@@ -1,9 +1,12 @@
package org.timecrafters.CenterStage.TeleOp.Engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.TeleOp.States.SodiPizzaTeleOPState;
import dev.cyberarm.engine.V2.CyberarmEngine;
@TeleOp(name = "Sodi Pizza Box Bot TeleOP", group = "")
public class SodiPizzaTeleOPEngine extends CyberarmEngine {
@Override
public void setup() {

27
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
View File

@@ -14,6 +14,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
final private SodiPizzaMinibotObject robot;
private long lastMoveTime;
public float drivePower;
public final double minInput = 0.1 /** <- Minimum input from stick to send command **/;
public double lastToldAngle /** <- The angle the bot was last told to stop at **/;
YawPitchRollAngles imuInitAngle;
@@ -43,9 +44,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
public void exec() {
if (Math.abs(engine.gamepad1.left_stick_y) < 0.1 &&
Math.abs(engine.gamepad1.left_stick_x) < 0.1 &&
Math.abs(engine.gamepad1.right_stick_x) < 0.1) {
if (Math.abs(engine.gamepad1.left_stick_y) < minInput &&
Math.abs(engine.gamepad1.left_stick_x) < minInput &&
Math.abs(engine.gamepad1.right_stick_x) < minInput) /** <- input from ONLY left stick y means to move forward or backward **/{
drivePower = 0;
robot.leftFront.setPower(drivePower);
@@ -54,15 +55,15 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.rightBack.setPower(drivePower);
}
if (robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) > lastToldAngle + 0.5 &&
Math.abs(engine.gamepad1.left_stick_y) > 0.1) {
if (robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) > lastToldAngle + 0.5) {
if (Math.abs(engine.gamepad1.right_stick_x) > minInput &&
Math.abs(engine.gamepad1.left_stick_y) > minInput)
robot.rightFront.setPower(robot.leftFront.getPower() * 0.8);
robot.rightBack.setPower(robot.leftBack.getPower() * 0.8);
} else
if (robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) < lastToldAngle - 0.5 &&
Math.abs(engine.gamepad1.left_stick_y) > 0.1) {
Math.abs(engine.gamepad1.left_stick_y) > minInput) {
robot.leftFront.setPower(robot.rightFront.getPower() * 0.8);
robot.leftBack.setPower(robot.rightBack.getPower() * 0.8);
@@ -84,9 +85,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.imu.resetYaw();
}
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && Math.abs(engine.gamepad1.left_stick_x) < 0.1 &&
if (Math.abs(engine.gamepad1.left_stick_y) > minInput && Math.abs(engine.gamepad1.left_stick_x) < minInput/* &&
robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) > lastToldAngle - 0.5 &&
robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) < lastToldAngle + 0.5) {
robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES) < lastToldAngle + 0.5*/) {
drivePower = engine.gamepad1.left_stick_y;
robot.leftFront.setPower(drivePower);
@@ -95,7 +96,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.rightBack.setPower(drivePower);
}
if (Math.abs(engine.gamepad1.left_stick_x) > 0.1) {
if (Math.abs(engine.gamepad1.left_stick_x) > minInput) {
drivePower = engine.gamepad1.left_stick_x;
robot.leftFront.setPower(-drivePower);
@@ -104,7 +105,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.rightBack.setPower(-drivePower);
}
if (Math.abs(engine.gamepad1.right_stick_x) > 0.1) {
if (Math.abs(engine.gamepad1.right_stick_x) > minInput) {
drivePower = engine.gamepad1.right_stick_x;
robot.leftFront.setPower(-drivePower);
@@ -113,5 +114,9 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.rightBack.setPower(drivePower);
lastToldAngle = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
}
if (engine.gamepad2.a && !engine.gamepad2.start) {
}
}
}