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Fixed Move unlikely to correctly handle backward destinations, add driver feedback for co-pilot toggle.

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Cyberarm
2023-01-29 19:51:59 -06:00
parent 513733965a
commit 236c291275
2 changed files with 8 additions and 2 deletions
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4
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
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@@ -79,8 +79,8 @@ public class Move extends CyberarmState {
if (Math.abs(travelledDistance) < easeInDistance) { if (Math.abs(travelledDistance) < easeInDistance) {
ratio = travelledDistance / easeInDistance; ratio = travelledDistance / easeInDistance;
} else if (Math.abs(travelledDistance) > targetDistance - easeOutDistance) { } else if (Math.abs(travelledDistance) > Math.abs(targetDistance) - easeOutDistance) {
ratio = (targetDistance - Math.abs(travelledDistance)) / easeOutDistance; ratio = (Math.abs(targetDistance) - Math.abs(travelledDistance)) / easeOutDistance;
} }
ratio = Range.clip(ratio, 0.0, 1.0); ratio = Range.clip(ratio, 0.0, 1.0);

6
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/teleop/ArmDriverControl.java
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@@ -164,6 +164,12 @@ public class ArmDriverControl extends CyberarmState {
// Swap controlling gamepad // Swap controlling gamepad
if (gamepad == engine.gamepad2 && button.equals("guide")) { if (gamepad == engine.gamepad2 && button.equals("guide")) {
controller = controller == engine.gamepad1 ? engine.gamepad2 : engine.gamepad1; controller = controller == engine.gamepad1 ? engine.gamepad2 : engine.gamepad1;
if (controller == engine.gamepad1) {
engine.telemetry.speak("Pilot Only");
} else {
engine.telemetry.speak("Co-Pilot Enabled");
}
} }
if (gamepad != controller) { if (gamepad != controller) {