mirror of
https://github.com/TimeCrafters/FTC_2022
synced 2025-12-15 21:22:33 +00:00
Changing dpad left/right to 90/-90 degrees instead of 45/-45.
This commit is contained in:
Sodi
@@ -123,10 +123,64 @@ public class PhoenixTeleOPState extends CyberarmState {
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Math.abs(engine.gamepad1.left_stick_y) < 0.1 &&
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Math.abs(engine.gamepad1.right_stick_y) < 0.1) {
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drivePower = 0;
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robot.backLeftDrive.setPower(-drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(-drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(drivePower);
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}
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if (engine.gamepad1.dpad_right) {
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RobotRotation = robot.imu.getAngularOrientation().firstAngle;
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RotationTarget = 90;
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CalculateDeltaRotation();
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if (RobotRotation > -90 && RobotRotation < 89) {//CCW
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drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 91 || RobotRotation < -90) {//CW
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drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < 91 && RobotRotation > 89) {
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drivePower = 0;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(drivePower);
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}
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}
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if (engine.gamepad1.dpad_left) {
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RobotRotation = robot.imu.getAngularOrientation().firstAngle;
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RotationTarget = -90;
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CalculateDeltaRotation();
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if (RobotRotation > -89 && RobotRotation <= 90) {//CW
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drivePower = (0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 90 || RobotRotation < -91) {//CCW
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drivePower = (-0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < 91 && RobotRotation > 89) {
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drivePower = 0;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(drivePower);
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}
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}
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if (engine.gamepad1.y) {
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@@ -134,13 +188,13 @@ public class PhoenixTeleOPState extends CyberarmState {
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RotationTarget = 180;
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CalculateDeltaRotation();
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if (RobotRotation < 0 && RobotRotation > -179) {
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drivePower = (1 * DeltaRotation / 180) + MinimalPower;
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drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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} else if (RobotRotation >= 0) {
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drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
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drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -159,14 +213,14 @@ public class PhoenixTeleOPState extends CyberarmState {
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RotationTarget = 0;
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CalculateDeltaRotation();
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if (RobotRotation < -1) {
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drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
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drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 1) {
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drivePower = (1 * DeltaRotation / 180) + MinimalPower;
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drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -186,14 +240,14 @@ public class PhoenixTeleOPState extends CyberarmState {
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RotationTarget = -45;
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CalculateDeltaRotation();
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if (RobotRotation < -46 || RobotRotation > 135) {//CCW
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drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
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drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > -44 && RobotRotation < 135) {//CW
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drivePower = (1 * DeltaRotation / 180) + MinimalPower;
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drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -202,36 +256,9 @@ public class PhoenixTeleOPState extends CyberarmState {
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if (RobotRotation > -46 && RobotRotation < -44) {
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drivePower = 0;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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}
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if (engine.gamepad1.dpad_right) {
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RobotRotation = robot.imu.getAngularOrientation().firstAngle;
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RotationTarget = 45;
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CalculateDeltaRotation();
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if (RobotRotation > -135 && RobotRotation < 44) {//CCW
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drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < -135 || RobotRotation < 46) {//CW
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drivePower = (1 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < 46 && RobotRotation > 44) {
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drivePower = 0;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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robot.frontRightDrive.setPower(drivePower);
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}
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}
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@@ -240,14 +267,14 @@ public class PhoenixTeleOPState extends CyberarmState {
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RotationTarget = 45;
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CalculateDeltaRotation();
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if (RobotRotation > -135 && RobotRotation < 44) {//CCW
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drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
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drivePower = (-0.95 * DeltaRotation / 180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < -135 || RobotRotation > 46) {//CW
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drivePower = (1 * DeltaRotation / 180) + MinimalPower;
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drivePower = (0.95 * DeltaRotation / 180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -256,9 +283,9 @@ public class PhoenixTeleOPState extends CyberarmState {
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if (RobotRotation < 46 && RobotRotation > 44) {
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drivePower = 0;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.backRightDrive.setPower(drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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robot.frontRightDrive.setPower(drivePower);
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}
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}
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@@ -331,49 +358,8 @@ public class PhoenixTeleOPState extends CyberarmState {
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}
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}//end of a
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// if (engine.gamepad2.back) {
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// robot.backLeftDrive.setPower(1);
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// robot.backRightDrive.setPower(1);
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// robot.frontLeftDrive.setPower(1);
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// robot.frontRightDrive.setPower(1);
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// if (System.currentTimeMillis() - lastStepTime >= 1500) {
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// robot.backLeftDrive.setPower(0);
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// robot.backRightDrive.setPower(0);
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// robot.frontLeftDrive.setPower(0);
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// robot.frontRightDrive.setPower(0);
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// }
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// if (robot.HighRiserLeft.getPosition() < 1) {
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// lastStepTime = System.currentTimeMillis();
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// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
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// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
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// }
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// }
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// }
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// if (robot.LowRiserLeft.getPosition() < 1 && robot.HighRiserLeft.getPosition() == 1) {
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// lastStepTime = System.currentTimeMillis();
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// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
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// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
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// }
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// }
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// }
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// if (System.currentTimeMillis() >= 250) {
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// robot.backLeftDrive.setPower(1);
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// robot.backRightDrive.setPower(1);
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// robot.frontLeftDrive.setPower(1);
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// robot.frontRightDrive.setPower(1);
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// if (System.currentTimeMillis() - lastStepTime >= 250) {
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// robot.backLeftDrive.setPower(0);
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// robot.backRightDrive.setPower(0);
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// robot.frontLeftDrive.setPower(0);
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// robot.frontRightDrive.setPower(0);
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// }
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// }
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//
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// }
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//i feel like removing that was a stupidly impulsive move but i gave up on not being stupidly
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// impulsive a long time ago lol. Besides, when have we even used that function? It got replaced.
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if (engine.gamepad2.a) {
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OCD = 1;
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