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Cleaning up TeleOP

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This commit is contained in:
Sodi
2022-10-22 12:00:27 -05:00
parent bb5fc381b0
commit 3494ddaa4f
1 changed files with 263 additions and 260 deletions
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523
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -15,7 +15,6 @@ public class PrototypeTeleOPState extends CyberarmState {
private boolean bprev; // sticky key variable for the gamepad
private double drivePower = 1;
private boolean UpDPad;
private int armTargetPosition = 0, armCollectPosition = 125, armDeliverPosition = 400;
private double collectorRiserPosition;
private boolean raiseHighRiser = true;
private long lastStepTime = 0, BeginningofActionTime;
@@ -237,6 +236,20 @@ public class PrototypeTeleOPState extends CyberarmState {
}
}
if (engine.gamepad1.dpad_left) {
robot.collectorLeft.setPower(1);
robot.collectorRight.setPower(1);
} else if (engine.gamepad1.dpad_right) {
robot.collectorLeft.setPower(-1);
robot.collectorRight.setPower(-1);
} else {
robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0);
}
//
// }
//
@@ -254,13 +267,6 @@ public class PrototypeTeleOPState extends CyberarmState {
//
// }
////
//// if (engine.gamepad1.a) {
//// robot.LowRiserLeft.setPosition(0);
//// robot.LowRiserRight.setPosition(1);
//// }
//// if (engine.gamepad1.x) {
//// robot.LowRiserLeft.setPosition(1);
//// robot.LowRiserRight.setPosition(0);
//// }
////
//// if (engine.gamepad2.right_stick_y < -0.1) {
@@ -365,59 +371,59 @@ public class PrototypeTeleOPState extends CyberarmState {
//
// }
//
// if (engine.gamepad2.start){
//
// if (System.currentTimeMillis() - lastStepTime >= 150) {
//// if (engine.gamepad2.start){
////
//// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
//
// switch (CyclingArmUpAndDown) {
//
// // upper arm up
// case 0:
// if (robot.HighRiserLeft.getPosition() < 1) {
// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
// } else {
// CyclingArmUpAndDown = CyclingArmUpAndDown +1;
// }
// break;
//
// // lower arm up
// case 1:
// if (robot.LowRiserLeft.getPosition() < 1) {
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// } else {
// CyclingArmUpAndDown = CyclingArmUpAndDown +1;
// }
// break;
//
// // lower arm down
// case 2:
// if (robot.LowRiserLeft.getPosition() >= 0.44) {
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
// } else {
// CyclingArmUpAndDown = CyclingArmUpAndDown +1;
// }
// break;
//
// // upper arm down
// case 3:
// if (robot.HighRiserLeft.getPosition() >= 0.45) {
// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
// } else {
// CyclingArmUpAndDown = 0;
// }
// break;
//
// default:
// break;
// } // end of switch
// } // end of time if statement
// } // end of start button press
switch (CyclingArmUpAndDown) {
// upper arm up
case 0:
if (robot.HighRiserLeft.getPosition() < 1) {
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
} else {
CyclingArmUpAndDown = CyclingArmUpAndDown +1;
}
break;
// lower arm up
case 1:
if (robot.LowRiserLeft.getPosition() < 1) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
} else {
CyclingArmUpAndDown = CyclingArmUpAndDown +1;
}
break;
// lower arm down
case 2:
if (robot.LowRiserLeft.getPosition() >= 0.44) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
} else {
CyclingArmUpAndDown = CyclingArmUpAndDown +1;
}
break;
// upper arm down
case 3:
if (robot.HighRiserLeft.getPosition() >= 0.45) {
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
} else {
CyclingArmUpAndDown = 0;
}
break;
default:
break;
} // end of switch
// end of time if statement
// end of start button press
// if (engine.gamepad2.left_stick_y > 0.1) {
// robot.HighRiserLeft.setPosition(0.5);
@@ -440,204 +446,204 @@ public class PrototypeTeleOPState extends CyberarmState {
// }
// For raising, high risers ALWAYS raise first, for lowering, low risers ALWAYS lower first.
if (engine.gamepad2.back) {
RobotPosition = robot.backRightDrive.getCurrentPosition();
switch (AutoChain) {
case 0://Initialize
RobotStartingPosition = RobotPosition;
AutoChain += 1;
break;
case 1://Drive 1 square forward
if (RobotPosition - RobotStartingPosition < 2500){
drivePower = 1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain += 1;
}
break;
case 2://Rotate Counterclockwise for 45 degrees
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation <= 45) {
drivePower = 0.4;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain += 1;
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
break;
case 3://Raise upper arm fully
if (robot.HighRiserLeft.getPosition() < 1) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} else {
AutoChain +=1;
}
break;
case 4://Raise lower arm fully
if (robot.LowRiserLeft.getPosition() < 1) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} else {
AutoChain += 1;
}
break;
case 5://initialize for moving forward
RobotStartingPosition = robot.backRightDrive.getCurrentPosition();
AutoChain += 1;
break;
case 6://Drive forward 1/4 square
if (RobotPosition - RobotStartingPosition < 1200){
drivePower = 1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
AutoChain += 1;
}
break;
case 7://Lower low arm fully
if (robot.LowRiserLeft.getPosition() > 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
}else
{
AutoChain += 1;
}
break;
case 8:
BeginningofActionTime = System.currentTimeMillis();
AutoChain += 1;
break;
case 9://Eject
if (System.currentTimeMillis() - BeginningofActionTime < 2000) {
robot.collectorRight.setPower(-1);
robot.collectorLeft.setPower(1);
} else {
robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0);
AutoChain += 1;
}
break;
case 10://Raise low arm
if (robot.LowRiserLeft.getPosition() < 1) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
} else {
AutoChain += 1;
}
break;
case 11://Initialize backup
RobotStartingPosition = RobotPosition;
AutoChain += 1;
break;
case 12://Drive backwards 1/4 square
if (RobotPosition - RobotStartingPosition > -1200){
drivePower = -1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
AutoChain += 1;
}
break;
case 13://Turn 45 degrees clockwise
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation > 0) {
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
} else
{
AutoChain += 1;
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
break;
case 14://Initialize
RobotStartingPosition = RobotPosition;
AutoChain += 1;
break;
case 15://Drive 1 square forward
if (RobotPosition - RobotStartingPosition < 2500){
drivePower = 1;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
} else
{
AutoChain = 999;
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
break;
case 999:
break;
// if (engine.gamepad2.back) {
// RobotPosition = robot.backRightDrive.getCurrentPosition();
//
// switch (AutoChain) {
//
// case 0://Initialize
// RobotStartingPosition = RobotPosition;
// AutoChain += 1;
// break;
//
// case 1://Drive 1 square forward
// if (RobotPosition - RobotStartingPosition < 2500){
// drivePower = 1;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// } else
// {
// AutoChain += 1;
// }
// break;
//
// case 2://Rotate Counterclockwise for 45 degrees
// RobotRotation = robot.imu.getAngularOrientation().firstAngle;
// if (RobotRotation <= 45) {
// drivePower = 0.4;
// robot.backLeftDrive.setPower(-drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(-drivePower);
// robot.frontRightDrive.setPower(drivePower);
// } else
// {
// AutoChain += 1;
// drivePower = 0;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// }
// break;
//
// case 3://Raise upper arm fully
// if (robot.HighRiserLeft.getPosition() < 1) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
// }
// } else {
// AutoChain +=1;
// }
// break;
//
// case 4://Raise lower arm fully
// if (robot.LowRiserLeft.getPosition() < 1) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// }
// } else {
// AutoChain += 1;
//
// }
// break;
//
// case 5://initialize for moving forward
// RobotStartingPosition = robot.backRightDrive.getCurrentPosition();
// AutoChain += 1;
// break;
//
// case 6://Drive forward 1/4 square
// if (RobotPosition - RobotStartingPosition < 1200){
// drivePower = 1;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// } else
// {
// drivePower = 0;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// AutoChain += 1;
// }
// break;
//
// case 7://Lower low arm fully
// if (robot.LowRiserLeft.getPosition() > 0.5) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
//
// }
// }else
// {
// AutoChain += 1;
// }
// break;
//
// case 8:
// BeginningofActionTime = System.currentTimeMillis();
// AutoChain += 1;
//
// break;
// case 9://Eject
// if (System.currentTimeMillis() - BeginningofActionTime < 2000) {
// robot.collectorRight.setPower(-1);
// robot.collectorLeft.setPower(1);
//
// } else {
// robot.collectorLeft.setPower(0);
// robot.collectorRight.setPower(0);
// AutoChain += 1;
// }
// break;
//
// case 10://Raise low arm
// if (robot.LowRiserLeft.getPosition() < 1) {
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// } else {
// AutoChain += 1;
// }
// break;
//
// case 11://Initialize backup
// RobotStartingPosition = RobotPosition;
// AutoChain += 1;
// break;
//
// case 12://Drive backwards 1/4 square
// if (RobotPosition - RobotStartingPosition > -1200){
// drivePower = -1;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// } else
// {
// drivePower = 0;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// AutoChain += 1;
// }
// break;
//
// case 13://Turn 45 degrees clockwise
// RobotRotation = robot.imu.getAngularOrientation().firstAngle;
// if (RobotRotation > 0) {
// drivePower = 0.4;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(-drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(-drivePower);
// } else
// {
// AutoChain += 1;
// drivePower = 0;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// }
// break;
//
// case 14://Initialize
// RobotStartingPosition = RobotPosition;
// AutoChain += 1;
// break;
//
// case 15://Drive 1 square forward
// if (RobotPosition - RobotStartingPosition < 2500){
// drivePower = 1;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// } else
// {
// AutoChain = 999;
// drivePower = 0;
// robot.backLeftDrive.setPower(drivePower);
// robot.backRightDrive.setPower(drivePower);
// robot.frontLeftDrive.setPower(drivePower);
// robot.frontRightDrive.setPower(drivePower);
// }
// break;
//
// case 999:
//
// break;
@@ -645,6 +651,3 @@ public class PrototypeTeleOPState extends CyberarmState {
}
}
}