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Cleaning up TeleOP and straightening the drive

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This commit is contained in:
Sodi
2022-10-26 17:50:17 -05:00
parent 022b77fdb7
commit 48a1a75071
2 changed files with 51 additions and 6 deletions
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5
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -43,13 +43,12 @@ public class PrototypeBot1 {
public TimeCraftersConfiguration configuration;
// public Servo collectorWrist;
public PrototypeBot1(CyberarmEngine engine) {
this.engine = engine;
// initVuforia();
// initTfod();
initVuforia();
initTfod();
setupRobot();
}

52
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -3,6 +3,7 @@ package org.timecrafters.testing.states;
import android.annotation.SuppressLint;
import com.qualcomm.robotcore.hardware.Servo;
import com.vuforia.Vuforia;
import org.cyberarm.engine.V2.CyberarmState;
@@ -227,11 +228,11 @@ 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 if (engine.gamepad1.dpad_right) {
robot.collectorLeft.setPower(1);
robot.collectorRight.setPower(1);
} else {
robot.collectorLeft.setPower(0);
robot.collectorRight.setPower(0);
@@ -273,6 +274,51 @@ public class PrototypeTeleOPState extends CyberarmState {
}
}//end of a
if (engine.gamepad2.back) {
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
if (System.currentTimeMillis() - lastStepTime >= 1500) {
robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0);
}
if (System.currentTimeMillis() - lastStepTime >= 150) {
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);
}
}
}
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (robot.LowRiserLeft.getPosition() < 1 && robot.HighRiserLeft.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);
}
}
}
if (System.currentTimeMillis() >= 250) {
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
if (System.currentTimeMillis() - lastStepTime >= 250) {
robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0);
}
}
}
//
// }