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Cleaning up TeleOP

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This commit is contained in:
Sodi
2022-10-22 12:22:45 -05:00
parent 3494ddaa4f
commit 54f95918d5
1 changed files with 91 additions and 58 deletions
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149
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -129,8 +129,8 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.frontRightDrive.setPower(-drivePower);
}
if (engine.gamepad1.right_trigger < 0.1&&engine.gamepad1.left_trigger < 0.1
&& !engine.gamepad1.y&& !engine.gamepad1.x&& !engine.gamepad1.a&& !engine.gamepad1.b) {
if (engine.gamepad1.right_trigger < 0.1 && engine.gamepad1.left_trigger < 0.1
&& !engine.gamepad1.y && !engine.gamepad1.x && !engine.gamepad1.a && !engine.gamepad1.b) {
drivePower = 0;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -147,14 +147,14 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 0) {
if (RobotRotation > 0) {
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <-177 || RobotRotation >177) {
if (RobotRotation < -177 || RobotRotation > 177) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -172,14 +172,14 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 3) {
if (RobotRotation > 3) {
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation >-3 && RobotRotation <3) {
if (RobotRotation > -3 && RobotRotation < 3) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -189,21 +189,21 @@ public class PrototypeTeleOPState extends CyberarmState {
}
if (engine.gamepad1.x) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation > -45&& RobotRotation <132) {//CCW
if (RobotRotation > -45 && RobotRotation < 132) {//CCW
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation < -45 || RobotRotation > 138) {//CW
if (RobotRotation < -45 || RobotRotation > 138) {//CW
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <138 && RobotRotation >132) {
if (RobotRotation < 138 && RobotRotation > 132) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -213,21 +213,21 @@ public class PrototypeTeleOPState extends CyberarmState {
}
if (engine.gamepad1.b) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation < 45&& RobotRotation > -132) {//CCW
if (RobotRotation < 45 && RobotRotation > -132) {//CCW
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 45||RobotRotation < -138) {//CW
if (RobotRotation > 45 || RobotRotation < -138) {//CW
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <-132 && RobotRotation >-138) {
if (RobotRotation < -132 && RobotRotation > -138) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -247,7 +247,40 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.collectorRight.setPower(0);
}
if (engine.gamepad2.y) {
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 (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);
}
}//end of y
if (engine.gamepad2.a) {
if (robot.HighRiserLeft.getPosition() > 0.45 && robot.LowRiserLeft.getPosition() < 0.5) {
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 (robot.LowRiserLeft.getPosition() > 0.45) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
}
}//end of a
//
@@ -376,54 +409,54 @@ public class PrototypeTeleOPState extends CyberarmState {
//// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
switch (CyclingArmUpAndDown) {
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;
// 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 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;
// 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;
// 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;
default:
break;
} // end of switch
// end of time if statement
// end of start button press
} // 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);
@@ -646,8 +679,8 @@ public class PrototypeTeleOPState extends CyberarmState {
// break;
}
}
}
}