TimeCrafters/CenterStage
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Second drive state, tried to make ramping speed work better

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This commit is contained in:
NerdyBirdy460
2023-12-05 17:09:14 -06:00
parent 0b962a04e4
commit f6297663c2
3 changed files with 34 additions and 24 deletions
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4
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiPizzaAutoFirstDriveState.java
View File

@@ -22,7 +22,7 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
}
private double getDrivePower() {
if (Math.abs(neededTicks) > 1) {
if (Math.abs(neededTicks) > 250) {
drivePower = (drivePowerRaw * neededTicks) / 10;
}
return drivePower;
@@ -48,6 +48,8 @@ public class SodiPizzaAutoFirstDriveState extends CyberarmState{
lastMoveTime = System.currentTimeMillis();
readyToTurn = engine.blackboardGetInt("readyToTurn");
robot.imu.resetYaw();
}
@Override

4
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiPizzaAutoSecDriveState.java
View File

@@ -22,7 +22,7 @@ public class SodiPizzaAutoSecDriveState extends CyberarmState {
}
private double getDrivePower() {
if (Math.abs(neededTicks) > 1) {
if (Math.abs(neededTicks) > 250) {
drivePower = (drivePowerRaw * neededTicks) / 10;
}
return drivePower;
@@ -72,7 +72,7 @@ public class SodiPizzaAutoSecDriveState extends CyberarmState {
robot.rightFront.setTargetPosition(targetTicks);
robot.rightBack.setTargetPosition(targetTicks);
drivePowerRaw = 0.5;
drivePowerRaw = 0.3;
getDrivePower();
robot.leftFront.setPower(drivePower);

50
TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiPizzaAutoTurnState.java
View File

@@ -76,8 +76,6 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
robot.rightFront.setPower(turnSpeed);
robot.rightBack.setPower(turnSpeed);
engine.blackboardSet("readyToTurn", 0);
}
@SuppressLint("SuspiciousIndentation")
@@ -91,25 +89,33 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
CalculateNeededRot();
if (readyToTurn == 0) {
targetRot = 0;
if (currentRot <= targetRot - 1) {
turnSpeedRaw = 0.5;
getTurnSpeed();
robot.rightFront.setPower(robot.leftFront.getPower() + turnSpeed);
robot.rightBack.setPower(robot.leftBack.getPower() + turnSpeed);
} else if (currentRot >= targetRot + 1)
turnSpeedRaw = 0.5;
getTurnSpeed();
robot.leftFront.setPower(robot.rightFront.getPower() + turnSpeed);
}
// if (readyToTurn == 0) {
// targetRot = 0;
//
// if (currentRot <= targetRot - 1) {
//
// turnSpeedRaw = 0.5;
// getTurnSpeed();
//
// robot.rightFront.setPower(robot.leftFront.getPower() + turnSpeed);
// robot.rightBack.setPower(robot.leftBack.getPower() + turnSpeed);
//
// } else if (currentRot >= targetRot + 1) {
//
// turnSpeedRaw = 0.5;
// getTurnSpeed();
//
// robot.leftFront.setPower(robot.rightFront.getPower() + turnSpeed);
// } else {
//
// robot.leftFront.setPower(robot.rightFront.getPower());
// robot.leftBack.setPower(robot.rightBack.getPower());
// robot.rightFront.setPower(robot.leftFront.getPower());
// robot.rightBack.setPower(robot.leftBack.getPower());
//
// }
//
// }
if (readyToTurn == 1 && targetRot != -90) {
@@ -149,6 +155,8 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
robot.rightBack.setPower(turnSpeed);
engine.blackboardSet("readyToTurn", 2);
setHasFinished(true);
}
}