TimeCrafters/FTC_2022
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Debug and fail-safe

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This commit is contained in:
Sodi
2023-01-11 17:32:00 -06:00
parent 4f510fa8fc
commit 12ad52b6af
1 changed files with 3 additions and 3 deletions
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6
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -19,7 +19,7 @@ public class PhoenixTeleOPState extends CyberarmState {
private long lastStepTime = 0; private long lastStepTime = 0;
private double RobotRotation; private double RobotRotation;
private double RotationTarget, DeltaRotation; private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.25, topServoOffset = -0.05; private double MinimalPower = 0.25, topServoOffset = -0.05, lowServoOffset = -0.05;
private double servoCollectLow = 0.40; //Low servos, A button private double servoCollectLow = 0.40; //Low servos, A button
private double servoCollectHigh = 0.40; //High servos, A button private double servoCollectHigh = 0.40; //High servos, A button
private double servoLowLow = 0.5; //Low servos, X button private double servoLowLow = 0.5; //Low servos, X button
@@ -72,7 +72,7 @@ public class PhoenixTeleOPState extends CyberarmState {
robot.LowRiserLeft.setDirection(Servo.Direction.FORWARD); robot.LowRiserLeft.setDirection(Servo.Direction.FORWARD);
robot.LowRiserRight.setDirection(Servo.Direction.REVERSE); robot.LowRiserRight.setDirection(Servo.Direction.REVERSE);
robot.LowRiserLeft.setPosition(0.45); robot.LowRiserLeft.setPosition(0.45);
robot.LowRiserRight.setPosition(0.45); robot.LowRiserRight.setPosition(0.45 + lowServoOffset);
robot.HighRiserLeft.setPosition(0.45); robot.HighRiserLeft.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45 + topServoOffset); robot.HighRiserRight.setPosition(0.45 + topServoOffset);
robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -319,7 +319,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (engine.gamepad2.left_bumper) { if (engine.gamepad2.left_bumper) {
OCD = 0; OCD = 0;
if (robot.HighRiserLeft.getPosition() > 0.45) { if (robot.HighRiserLeft.getPosition() > 0.4) {
if (System.currentTimeMillis() - lastStepTime >= 120) { if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis(); lastStepTime = System.currentTimeMillis();
OCD = 0; OCD = 0;