Added diagnostics engine for CHIRON, renamed liftDrive to simply arm, misc. tweaks and fixes.

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java

@@ -18,7 +18,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Act
 import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Variable;
 
 public class Robot {
-    public final DcMotorEx leftDrive, rightDrive, frontDrive, backDrive, liftDrive;
+    public final DcMotorEx leftDrive, rightDrive, frontDrive, backDrive, arm;
     public final ServoImplEx gripper, wrist;
     public final IMU imu;
     public final ColorSensor indicatorA, indicatorB;
@@ -30,7 +30,7 @@ public class Robot {
 
     public Status status = Status.OKAY;
 
-    public enum LiftPosition {
+    public enum ArmPosition {
         COLLECT,
         GROUND,
         LOW,
@@ -61,7 +61,8 @@ public class Robot {
         frontDrive = engine.hardwareMap.get(DcMotorEx.class, "front_drive");  // MOTOR PORT: ?
         backDrive = engine.hardwareMap.get(DcMotorEx.class, "back_drive");    // MOTOR PORT: ?
 
-        liftDrive = engine.hardwareMap.get(DcMotorEx.class, "lift_drive");    // MOTOR PORT: ?
+        // FIXME: Rename lift_drive to arm in hardware config
+        arm = engine.hardwareMap.get(DcMotorEx.class, "lift_drive");          // MOTOR PORT: ?
 
         gripper = engine.hardwareMap.get(ServoImplEx.class, "gripper");       // SERVO PORT: ?
         wrist = engine.hardwareMap.get(ServoImplEx.class, "wrist");           // SERVO PORT: ?
@@ -81,7 +82,7 @@ public class Robot {
         frontDrive.setDirection(hardwareConfig("front_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
         backDrive.setDirection(hardwareConfig("back_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
 
-        liftDrive.setDirection(hardwareConfig("lift_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+        arm.setDirection(hardwareConfig("arm_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
 
         //      RUNMODE
         leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -90,7 +91,8 @@ public class Robot {
         frontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); frontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         backDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); backDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
-        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); liftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        arm.setTargetPosition(0);
+        arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
 
         //      ZERO POWER BEHAVIOR
         leftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -99,16 +101,19 @@ public class Robot {
         frontDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         backDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
-        liftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        //      MOTOR POWER
+        arm.setPower(0.35);
 
         //   SERVOS (POSITIONAL)
         //      Gripper
         gripper.setDirection(hardwareConfig("gripper_direction_forward").value() ? Servo.Direction.FORWARD : Servo.Direction.REVERSE);
-        gripper.setPosition(hardwareConfig("gripper_initial_position").value());
+        gripper.setPosition(tuningConfig("gripper_initial_position").value());
 
         //      Wrist
         wrist.setDirection(hardwareConfig("wrist_direction_forward").value() ? Servo.Direction.FORWARD : Servo.Direction.REVERSE);
-        wrist.setPosition(hardwareConfig("wrist_initial_position").value());
+        wrist.setPosition(tuningConfig("wrist_initial_position").value());
 
         //   SENSORS
         //      COLOR SENSORS
@@ -125,6 +130,13 @@ public class Robot {
     }
 
     public void standardTelemetry() {
+        engine.telemetry.addLine();
+
+        // STATUS
+        engine.telemetry.addLine("DATA");
+        engine.telemetry.addData("      Hardware Fault", hardwareFault);
+        engine.telemetry.addLine();
+
         // Motor Powers
         engine.telemetry.addLine("Motor Powers");
         engine.telemetry.addData("  Left Drive", leftDrive.getPower());
@@ -135,21 +147,21 @@ public class Robot {
 
         engine.telemetry.addLine();
 
-        engine.telemetry.addData("  Lift Drive", backDrive.getPower());
+        engine.telemetry.addData("  Arm", arm.getPower());
 
         engine.telemetry.addLine();
 
         // Motor Positions
         engine.telemetry.addLine("Motor Positions");
-        engine.telemetry.addData("  Left Drive", "%d (%.2f in)", leftDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, leftDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Left Drive", "%d (%2f in)", leftDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, leftDrive.getCurrentPosition()));
-        engine.telemetry.addData("  Right Drive", "%d (%.2f in)", rightDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, rightDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Right Drive", "%d (%2f in)", rightDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, rightDrive.getCurrentPosition()));
 
-        engine.telemetry.addData("  Front Drive", "%d (%.2f in)", frontDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, frontDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Front Drive", "%d (%2f in)", frontDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, frontDrive.getCurrentPosition()));
-        engine.telemetry.addData("  Back Drive", "%d (%.2f in)", backDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, backDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Back Drive", "%d (%2f in)", backDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, backDrive.getCurrentPosition()));
 
         engine.telemetry.addLine();
 
-        engine.telemetry.addData("  Lift Drive", "%d (%.2d degrees)", leftDrive.getCurrentPosition(), ticksToAngle(liftDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Arm", "%d (%2f degrees)", arm.getCurrentPosition(), ticksToAngle(arm.getCurrentPosition()));
 
         engine.telemetry.addLine();
 
@@ -163,40 +175,54 @@ public class Robot {
 
         engine.telemetry.addLine();
 
-        engine.telemetry.addData("  Lift Drive", backDrive.getCurrent(CurrentUnit.AMPS));
+        engine.telemetry.addData("  Arm", arm.getCurrent(CurrentUnit.AMPS));
 
         engine.telemetry.addLine();
 
         // Motor Directions
         engine.telemetry.addLine("Motor Directions");
-        engine.telemetry.addData("  Left Drive", leftDrive.getDirection());
+        engine.telemetry.addData("      Left Drive", leftDrive.getDirection());
-        engine.telemetry.addData("  Right Drive", rightDrive.getDirection());
+        engine.telemetry.addData("      Right Drive", rightDrive.getDirection());
 
-        engine.telemetry.addData("  Front Drive", frontDrive.getDirection());
+        engine.telemetry.addData("      Front Drive", frontDrive.getDirection());
-        engine.telemetry.addData("  Back Drive", backDrive.getDirection());
+        engine.telemetry.addData("      Back Drive", backDrive.getDirection());
 
         engine.telemetry.addLine();
 
-        engine.telemetry.addData("  Lift Drive", backDrive.getDirection());
+        engine.telemetry.addData("      Arm", arm.getDirection());
+
+        engine.telemetry.addLine();
+
+        // Motor Target Positions
+        engine.telemetry.addLine("Motor Target Positions");
+        engine.telemetry.addData("      Left Drive", leftDrive.getTargetPosition());
+        engine.telemetry.addData("      Right Drive", rightDrive.getTargetPosition());
+
+        engine.telemetry.addData("      Front Drive", frontDrive.getTargetPosition());
+        engine.telemetry.addData("      Back Drive", backDrive.getTargetPosition());
+
+        engine.telemetry.addLine();
+
+        engine.telemetry.addData("      Arm", arm.getTargetPosition());
 
         engine.telemetry.addLine();
 
         // Servos
         engine.telemetry.addLine("Servos");
-        engine.telemetry.addData("  Gripper Direction", gripper.getDirection());
+        engine.telemetry.addData("      Gripper Direction", gripper.getDirection());
-        engine.telemetry.addData("  Gripper Position", gripper.getPosition());
+        engine.telemetry.addData("      Gripper Position", gripper.getPosition());
-        engine.telemetry.addData("  Gripper Enabled", gripper.isPwmEnabled());
+        engine.telemetry.addData("      Gripper Enabled", gripper.isPwmEnabled());
         engine.telemetry.addLine();
-        engine.telemetry.addData("  Wrist Direction", wrist.getDirection());
+        engine.telemetry.addData("      Wrist Direction", wrist.getDirection());
-        engine.telemetry.addData("  Wrist Position", wrist.getPosition());
+        engine.telemetry.addData("      Wrist Position", wrist.getPosition());
-        engine.telemetry.addData("  Wrist Enabled", wrist.isPwmEnabled());
+        engine.telemetry.addData("      Wrist Enabled", wrist.isPwmEnabled());
 
         engine.telemetry.addLine();
 
         // Sensors / IMU
         engine.telemetry.addLine("IMU");
-        engine.telemetry.addData("  Facing", facing());
+        engine.telemetry.addData("      Facing", facing());
-        engine.telemetry.addData("  Turn Rate", turnRate());
+        engine.telemetry.addData("      Turn Rate", turnRate());
     }
 
     public TimeCraftersConfiguration getConfiguration() {
@@ -220,12 +246,12 @@ public class Robot {
         return 0;
     }
 
-    // For: Lift Arm
+    // For: Arm
     public int angleToTicks(double angle) {
         return 0;
     }
 
-    // For: Lift Arm
+    // For: Arm
     public double ticksToAngle(int ticks) {
         return 0;
     }

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/engines/ConfigureAndTestHardwareEngine.java

@@ -0,0 +1,164 @@
+package org.timecrafters.minibots.cyberarm.chiron.engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.cyberarm.engine.V2.CyberarmState;
+import org.cyberarm.engine.V2.GamepadChecker;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+import org.timecrafters.minibots.cyberarm.chiron.Robot;
+
+@TeleOp(name = "CHIRON | Diagnostics", group = "CHIRON")
+public class ConfigureAndTestHardwareEngine extends CyberarmEngine {
+    private enum Stage {
+        ACKNOWLEDGE,
+        ENCODER,
+        DIRECTION,
+        COMPLETE
+    }
+
+    private Robot robot;
+
+    @Override
+    public void setup() {
+        robot = new Robot(this, new TimeCraftersConfiguration("CHIRON"));
+
+        addState(new MotorSetupState("Left Drive", robot.leftDrive, "left_drive_direction_forward", robot));
+        addState(new MotorSetupState("Right Drive", robot.rightDrive, "right_drive_direction_forward", robot));
+
+        addState(new MotorSetupState("Front Drive", robot.frontDrive, "front_drive_direction_forward", robot));
+        addState(new MotorSetupState("Back Drive", robot.backDrive, "back_drive_direction_forward", robot));
+
+        addState(new MotorSetupState("Lift Drive", robot.arm, "lift_drive_direction_forward", robot));
+    }
+
+    @Override
+    public void loop() {
+        super.loop();
+
+        robot.standardTelemetry();
+    }
+
+    private class MotorSetupState extends CyberarmState {
+        private final DcMotorEx motor;
+        private final String name, direction_key;
+
+        private Stage stage = Stage.ACKNOWLEDGE;
+
+        private final GamepadChecker controller;
+        private String message = "???";
+
+        public MotorSetupState(String name, DcMotorEx motor, String direction_key, Robot robot) {
+            this.name = name;
+            this.motor = motor;
+            this.direction_key = direction_key;
+
+            controller = new GamepadChecker(engine, engine.gamepad1);
+
+            this.motor.setPower(0.0);
+            this.motor.setDirection(robot.hardwareConfig(direction_key).value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+        }
+
+        @Override
+        public void exec() {
+            switch (stage) {
+                case ACKNOWLEDGE:
+                    handleAcknowledgement();
+                    break;
+                case ENCODER:
+                    handleEncoder();
+                    break;
+                case DIRECTION:
+                    handleDirection();
+                    break;
+                default:
+                    setHasFinished(true);
+            }
+
+            controller.update();
+        }
+
+        @Override
+        public void telemetry() {
+            engine.telemetry.addLine();
+            engine.telemetry.addLine("Configuring " + name);
+            engine.telemetry.addLine(message);
+            engine.telemetry.addLine();
+            engine.telemetry.addData("DIRECTION KEY", direction_key);
+            engine.telemetry.addData("STAGE", stage);
+        }
+
+        private void handleAcknowledgement() {
+            message = "Press 'A' if it is safe to drive: " + name;
+        }
+
+        private void handleEncoder() {
+            if (motor.getPower() == 0) {
+                message = "Press 'A' if motor has an encoder.\nPress 'X' if there is no encoder.";
+            } else {
+                message = "Press 'A' if encoder position is changing.";
+            }
+        }
+
+        private void handleDirection() {
+            message = "Press 'A' to complete. Press 'X' to toggle direction.";
+
+            motor.setPower(0.25);
+        }
+
+        // INPUT
+        private void handleAcknowledgementInput(String button) {
+            if (button.equals("a")) {
+                stage = Stage.ENCODER;
+            }
+        }
+
+        private void handleEncoderInput(String button) {
+            if (button.equals("a")) {
+                if (motor.getPower() == 0) {
+                    motor.setPower(0.25);
+                } else {
+                    motor.setPower(0);
+                    stage = Stage.DIRECTION;
+                }
+            }
+
+            if (button.equals("x")) {
+                stage = Stage.DIRECTION;
+            }
+        }
+
+        private void handleDirectionInput(String button) {
+            if (button.equals("a")) {
+                motor.setPower(0.0);
+                stage = Stage.COMPLETE;
+            }
+
+            if (button.equals("x")) {
+                if (motor.getDirection() == DcMotorSimple.Direction.FORWARD) {
+                    motor.setDirection(DcMotorSimple.Direction.REVERSE);
+                } else {
+                    motor.setDirection(DcMotorSimple.Direction.FORWARD);
+                }
+            }
+        }
+
+        @Override
+        public void buttonDown(Gamepad gamepad, String button) {
+            switch (stage) {
+                case ACKNOWLEDGE:
+                    handleAcknowledgementInput(button);
+                    break;
+                case ENCODER:
+                    handleEncoderInput(button);
+                    break;
+                case DIRECTION:
+                    handleDirectionInput(button);
+                    break;
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/engines/TeleOpEngine.java

@@ -1,10 +1,13 @@
 package org.timecrafters.minibots.cyberarm.chiron.engines;
 
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
 import org.timecrafters.minibots.cyberarm.chiron.Robot;
 import org.timecrafters.minibots.cyberarm.chiron.states.DriverControlState;
 
+@TeleOp(name = "CHIRON | TeleOp", group = "CHIRON")
 public class TeleOpEngine extends CyberarmEngine {
     private Robot robot;
     @Override

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/DriverControlState.java

@@ -10,7 +10,7 @@ public class DriverControlState extends CyberarmState {
     private final Robot robot;
     private final GamepadChecker controller;
     private final double releaseConfirmationDelay;
-    private double lastLiftManualControlTime = 0, lastWristManualControlTime = 0, lastLEDStatusAnimationTime = 0;
+    private double lastArmManualControlTime = 0, lastWristManualControlTime = 0, lastLEDStatusAnimationTime = 0;
     private boolean LEDStatusToggle = false;
 
     public DriverControlState(Robot robot) {
@@ -29,7 +29,7 @@ public class DriverControlState extends CyberarmState {
         robot.status = Robot.Status.OKAY;
 
         move(forwardAngle, forwardSpeed, rightSpeed);
-        liftManualControl();
+        armManualControl();
         wristManualControl();
 
         automatics();
@@ -37,6 +37,14 @@ public class DriverControlState extends CyberarmState {
         controller.update();
     }
 
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("Run Time", runTime());
+        engine.telemetry.addData("Arm Interval", lastArmManualControlTime);
+        engine.telemetry.addData("Wrist Interval", lastWristManualControlTime);
+        engine.telemetry.addData("LED Status Interval", lastLEDStatusAnimationTime);
+    }
+
     // FIXME: replace .setPower with .setVelocity
     private void move(double forwardAngle, double forwardSpeed, double rightSpeed) {
         if (robot.automaticAntiTipActive || robot.hardwareFault) {
@@ -55,7 +63,7 @@ public class DriverControlState extends CyberarmState {
             robot.rightDrive.setPower(-rightSpeed);
 
             robot.frontDrive.setPower(rightSpeed);
-            robot.backDrive.setPower(-rightSpeed);
+            robot.backDrive.setPower(rightSpeed);
 
         } else if (rightSpeed != 0 && forwardSpeed != 0) { // ANGLE DRIVE
             // TODO
@@ -73,29 +81,29 @@ public class DriverControlState extends CyberarmState {
         robot.backDrive.setPower(0);
     }
 
-    private void liftManualControl() {
+    private void armManualControl() {
         if (robot.hardwareFault) {
             return;
         }
 
         robot.status = Robot.Status.WARNING;
 
-        double stepInterval = robot.tuningConfig("lift_manual_step_interval").value();
+        double stepInterval = robot.tuningConfig("arm_manual_step_interval").value();
-        int stepSize = robot.tuningConfig("lift_manual_step_size").value();
+        int stepSize = robot.tuningConfig("arm_manual_step_size").value();
 
         if ((engine.gamepad1.left_trigger > 0 || engine.gamepad1.right_trigger > 0) && runTime() - lastWristManualControlTime >= stepInterval) {
             lastWristManualControlTime = runTime();
 
-            if (engine.gamepad1.left_trigger > 0) { // Lift DOWN
+            if (engine.gamepad1.left_trigger > 0) { // Arm DOWN
-                // robot.liftDrive.setVelocity(5, AngleUnit.DEGREES);
+                // robot.arm.setVelocity(5, AngleUnit.DEGREES);
-                robot.liftDrive.setTargetPosition(robot.leftDrive.getTargetPosition() - stepSize);
+                robot.arm.setTargetPosition(robot.arm.getCurrentPosition() - stepSize);
 
-            } else if (engine.gamepad1.right_trigger > 0) { // Lift UP
+            } else if (engine.gamepad1.right_trigger > 0) { // Arm UP
-                robot.liftDrive.setTargetPosition(robot.leftDrive.getTargetPosition() + stepSize);
+                robot.arm.setTargetPosition(robot.arm.getCurrentPosition() + stepSize);
             }
         }
 
-        // FIXME: Detect when the triggers have been released and park lift arm at the current position
+        // FIXME: Detect when the triggers have been released and park arm at the current position
     }
 
     private void wristManualControl() {
@@ -106,8 +114,8 @@ public class DriverControlState extends CyberarmState {
         double stepInterval = robot.tuningConfig("wrist_manual_step_interval").value();
         double stepSize = robot.tuningConfig("wrist_manual_step_size").value();
 
-        if ((engine.gamepad1.dpad_left || engine.gamepad1.dpad_right) && runTime() - lastLiftManualControlTime >= stepInterval) {
+        if ((engine.gamepad1.dpad_left || engine.gamepad1.dpad_right) && runTime() - lastArmManualControlTime >= stepInterval) {
-            lastLiftManualControlTime = runTime();
+            lastArmManualControlTime = runTime();
 
             if (engine.gamepad1.dpad_left) { // Wrist Left
                 robot.wrist.setPosition(robot.wrist.getPosition() - stepSize);
@@ -118,8 +126,8 @@ public class DriverControlState extends CyberarmState {
         }
     }
 
-    private void stopLift() {
+    private void stopArm() {
-        robot.liftDrive.setPower(0);
+        robot.arm.setPower(0);
     }
 
     private void automatics() {
@@ -135,10 +143,10 @@ public class DriverControlState extends CyberarmState {
             return;
         }
 
-        if (robot.ticksToAngle(robot.liftDrive.getCurrentPosition()) >= 50) {
+        if (robot.ticksToAngle(robot.arm.getCurrentPosition()) >= 50) {
-            robot.wrist.setPosition(robot.hardwareConfig("wrist_deposit_position").value());
+            robot.wrist.setPosition(robot.tuningConfig("wrist_deposit_position").value());
         } else {
-            robot.wrist.setPosition(robot.hardwareConfig("wrist_initial_position").value());
+            robot.wrist.setPosition(robot.tuningConfig("wrist_initial_position").value());
         }
     }
 
@@ -160,7 +168,7 @@ public class DriverControlState extends CyberarmState {
             robot.status = Robot.Status.DANGER;
 
             stopDrive();
-            stopLift();
+            stopArm();
         }
     }
 
@@ -198,7 +206,7 @@ public class DriverControlState extends CyberarmState {
         }
     }
 
-    private void liftPosition(Robot.LiftPosition position) {
+    private void armPosition(Robot.ArmPosition position) {
         if (robot.hardwareFault) {
             return;
         }
@@ -207,36 +215,36 @@ public class DriverControlState extends CyberarmState {
 
         switch (position) {
             case COLLECT:
-                robot.liftDrive.setTargetPosition(robot.angleToTicks(120));
+                robot.arm.setTargetPosition(robot.angleToTicks(120));
                 break;
 
             case GROUND:
-                robot.liftDrive.setTargetPosition(robot.angleToTicks(100));
+                robot.arm.setTargetPosition(robot.angleToTicks(100));
                 break;
 
             case LOW:
-                robot.liftDrive.setTargetPosition(robot.angleToTicks(80));
+                robot.arm.setTargetPosition(robot.angleToTicks(80));
                 break;
 
             case MEDIUM:
-                robot.liftDrive.setTargetPosition(robot.angleToTicks(35));
+                robot.arm.setTargetPosition(robot.angleToTicks(35));
                 break;
 
             case HIGH:
-                robot.liftDrive.setTargetPosition(robot.angleToTicks(15));
+                robot.arm.setTargetPosition(robot.angleToTicks(15));
                 break;
 
             default:
-                throw new RuntimeException("Unexpected lift position!");
+                throw new RuntimeException("Unexpected arm position!");
         }
     }
 
     private void gripperOpen() {
-        robot.gripper.setPosition(robot.hardwareConfig("gripper_open_position").value());
+        robot.gripper.setPosition(robot.tuningConfig("gripper_open_position").value());
     }
 
     private void gripperClosed() {
-        robot.gripper.setPosition(robot.hardwareConfig("gripper_closed_position").value());
+        robot.gripper.setPosition(robot.tuningConfig("gripper_closed_position").value());
     }
 
     @Override
@@ -256,22 +264,22 @@ public class DriverControlState extends CyberarmState {
         if (button.equals("dpad_down")) {
             robot.wristManuallyControlled = false;
 
-            robot.wrist.setPosition(robot.hardwareConfig("wrist_deposit_position").value());
+            robot.wrist.setPosition(robot.tuningConfig("wrist_deposit_position").value());
         } else if (button.equals("dpad_up")) {
             robot.wristManuallyControlled = false;
 
-            robot.wrist.setPosition(robot.hardwareConfig("wrist_initial_position").value());
+            robot.wrist.setPosition(robot.tuningConfig("wrist_initial_position").value());
         }
 
-        // Automatic Lift Control
+        // Automatic Arm Control
         if (button.equals("a")) {
-            liftPosition(Robot.LiftPosition.COLLECT);
+            armPosition(Robot.ArmPosition.COLLECT);
         } else if (button.equals("x")) {
-            liftPosition(Robot.LiftPosition.GROUND);
+            armPosition(Robot.ArmPosition.GROUND);
         } else if (button.equals("b")) {
-            liftPosition(Robot.LiftPosition.LOW);
+            armPosition(Robot.ArmPosition.LOW);
         } else if (button.equals("y")) {
-            liftPosition(Robot.LiftPosition.MEDIUM);
+            armPosition(Robot.ArmPosition.MEDIUM);
         }
     }
 
@@ -280,5 +288,9 @@ public class DriverControlState extends CyberarmState {
         if (gamepad != engine.gamepad1) {
             return;
         }
+
+        if (button.equals("guide")) {
+            robot.hardwareFault = !robot.hardwareFault;
+        }
     }
 }