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Adding semi-autonomous functions, variable names are *NOT* inspired by the story of Spirit and Opportunity, the names are a coincidence.

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Sodi
2023-01-21 12:00:39 -06:00
parent 5d2c7b82fc
commit 2760e97507
1 changed files with 27 additions and 2 deletions
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29
TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
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@@ -15,6 +15,7 @@ public class TeleOPTankDriver extends CyberarmState {
private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.2;
private int DeltaOdometerR, Endeavour, Spirit;
private boolean FreeSpirit;
private GamepadChecker gamepad1Checker;
public TeleOPTankDriver(PhoenixBot1 robot) {
this.robot = robot;
@@ -31,15 +32,39 @@ public class TeleOPTankDriver extends CyberarmState {
@Override
public void init() {
gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
FreeSpirit = false;
}
@Override
public void exec() {
if (drivePower > 0.1 && ) {
if (drivePower > 0.2) {
if (System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR < 4096) {
lastStepTime = System.currentTimeMillis();
FreeSpirit = true;
}
}
if (FreeSpirit) {
drivePower = -engine.gamepad1.left_stick_y;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && !FreeSpirit) {
drivePower = engine.gamepad1.left_stick_y;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
if ()
}
public void CalculateDeltaRotation() {
if (RotationTarget >= 0 && RobotRotation >= 0) {