TimeCrafters/CenterStage
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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
SpencerPiha
2024-01-20 11:27:17 -06:00
parent c109ce8ee4 426ec88fa4
commit f47ca4c8f2
3 changed files with 39 additions and 11 deletions
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2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -198,7 +198,7 @@ public class RedCrabMinibot {
if (autonomous)
clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
/// --- --- DIRECTION
clawArm.setDirection(DcMotorSimple.Direction.FORWARD);
clawArm.setDirection(DcMotorSimple.Direction.REVERSE);
/// --- --- BRAKING
/// --- --- NOTE: This won't hold back much, if anything, but its a small help, maybe? 😃
clawArm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

2
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiBlueCrabDriveStatev1.java
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@@ -14,6 +14,8 @@ public class SodiBlueCrabDriveStatev1 extends CyberarmState {
@Override
public void init() {
}
@Override

46
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
View File

@@ -11,6 +11,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
import org.checkerframework.checker.units.qual.A;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
import org.timecrafters.CenterStage.Common.SodiPizzaMinibotObject;
@@ -25,7 +26,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
public double 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 */, proportion, integral, derivative;
public float approxObjPos /* <- Approximate distance away the nearest obstruction is */, objData1, objData2, objData3;
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;
@@ -40,11 +41,17 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.setup();
}
public float getApproxObjPos() {
if (System.currentTimeMillis() - lastDistRead >= 500) {
public double getApproxObjPos() {
if (System.currentTimeMillis() - lastDistRead >= 500 && System.currentTimeMillis() - lastDistRead <= 750) {
/*Pseudocode: take objData1, wait, take 2, wait, take 3*/
}
objData1 = robot.distSensor.getDistance(DistanceUnit.MM);
} else if (System.currentTimeMillis() - lastDistRead >= 750 && System.currentTimeMillis() - lastDistRead <= 1250) {
/*Pseudocode: take objData1, wait, take 2, wait, take 3*/
objData2 = robot.distSensor.getDistance(DistanceUnit.MM);
} else if (System.currentTimeMillis() - lastDistRead >= 1250 && System.currentTimeMillis() - lastDistRead <= 1750) {
/*Pseudocode: take objData1, wait, take 2, wait, take 3*/
objData3 = robot.distSensor.getDistance(DistanceUnit.MM);
} else
approxObjPos = (objData1 + objData2 + objData3)/3;
return approxObjPos;
}
@@ -56,6 +63,8 @@ public class SodiPizzaTeleOPState extends CyberarmState {
engine.telemetry.addLine();
engine.telemetry.addData("Arm servo position", robot.shoulder.getPosition());
engine.telemetry.addLine();
engine.telemetry.addData("Approx Object Dist", approxObjPos);
}
@Override
@@ -78,6 +87,8 @@ public class SodiPizzaTeleOPState extends CyberarmState {
lastMoveTime = System.currentTimeMillis();
lastDistRead = System.currentTimeMillis();
robot.distSensor.getDistance(DistanceUnit.MM);
}
@Override
@@ -97,12 +108,27 @@ public class SodiPizzaTeleOPState extends CyberarmState {
robot.rightFront.setPower(rfPower * drivePower);
robot.rightBack.setPower(rbPower * drivePower);
if (engine.gamepad1.left_stick_x >= 0.1 || engine.gamepad1.left_stick_y >= 0.1 || engine.gamepad1.right_stick_x >= 0.1) {
robot.leftBack.setPower(lbPower);
robot.rightBack.setPower(rbPower);
robot.leftFront.setPower(lfPower);
robot.rightFront.setPower(rfPower);
/* For some reason, the robot reacts to both positive and negative direction from sticks as positive.
(It moves forward when I make it go forward, and forward when I make it go backward, as well as for strafing and turning.)*/
if (Math.abs(engine.gamepad1.left_stick_x) >= 0.1) {
drivePower = engine.gamepad1.left_stick_x;
// robot.leftFront.setPower(lfPower * drivePower);
// robot.leftBack.setPower(lbPower * drivePower);
// robot.rightFront.setPower(rfPower * drivePower);
// robot.rightBack.setPower(rbPower * drivePower);
}else if (Math.abs(engine.gamepad1.left_stick_y) >= 0.1) {
drivePower = engine.gamepad1.left_stick_y;
// robot.leftFront.setPower(lfPower * drivePower);
// robot.leftBack.setPower(lbPower * drivePower);
// robot.rightFront.setPower(rfPower * drivePower);
// robot.rightBack.setPower(rbPower * drivePower);
}else if (Math.abs(engine.gamepad1.right_stick_x) >= 0.1) {
drivePower = engine.gamepad1.right_stick_x;
// robot.leftFront.setPower(lfPower * drivePower);
// robot.leftBack.setPower(lbPower * drivePower);
// robot.rightFront.setPower(rfPower * drivePower);
// robot.rightBack.setPower(rbPower * drivePower);
}