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balance strafe

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This commit is contained in:
MrB_gmail
2022-02-28 14:58:17 -06:00
parent 6844c9fc02
commit 566419ddbf
3 changed files with 22 additions and 14 deletions
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2
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/MecanumMinibot.java
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@@ -94,7 +94,7 @@ public class MecanumMinibot {
public void driveStrafe(int direction, double power) {
double dStrafeRatioBack=1.0;
double dStrafeRatioFront=0.5;
double dStrafeRatioFront=1.0;
if (direction == STRAFE_LEFT) {
frontLeftDrive.setPower(power*dStrafeRatioFront);

2
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/MecanumMinibotTeleOpEngine.java
View File

@@ -15,5 +15,5 @@ public class MecanumMinibotTeleOpEngine extends CyberarmEngine {
robot = new MecanumMinibot(this);
addState(new MecanumMinibotTeleOpState(robot));
}//
}
}

32
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
View File

@@ -2,7 +2,7 @@ package org.timecrafters.minibots.cyberarm.states;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.minibots.cyberarm.MecanumMinibot;
@@ -31,18 +31,20 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
robot.driveStrafe(MecanumMinibot.STRAFE_RIGHT, speed);
} else if (engine.gamepad1.left_bumper) {
robot.driveTurn(MecanumMinibot.TURN_LEFT, speed*.5);
robot.driveTurn(MecanumMinibot.TURN_LEFT, speed);
} else if (engine.gamepad1.right_bumper) {
robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed*.5);
robot.driveTurn(MecanumMinibot.TURN_RIGHT, speed);
} else {
robot.driveStop();
}
/* ............................................................................ elevator */
if(engine.gamepad1.dpad_up){
if(engine.gamepad1.dpad_up ||
engine.gamepad2.y){
robot.pServoElevate.setPower(1.0);
}
else if(engine.gamepad1.dpad_down){
else if(engine.gamepad1.dpad_down ||
engine.gamepad2.a){
robot.pServoElevate.setPower(-1.0);
}
else{
@@ -50,29 +52,35 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
}
/* ............................................................................ arch */
if(Math.abs(engine.gamepad1.left_stick_y)>0.1){
robot.pServoArch.setPower(engine.gamepad1.left_stick_y);
if(Math.abs(engine.gamepad1.left_stick_y)>0.1 ||
Math.abs(engine.gamepad2.left_stick_y)>0.1){
robot.pServoArch.setPower(engine.gamepad1.left_stick_y + engine.gamepad2.left_stick_y);
}
else{
robot.pServoArch.setPower((0.0));
}
/* ............................................................................ rotate */
if(engine.gamepad1.dpad_right){ // up position
if(engine.gamepad1.dpad_right ||
engine.gamepad2.dpad_right){ // up position
robot.pServoRotate.setPosition(0.0);
}
if(engine.gamepad1.dpad_left){ // down position
if(engine.gamepad1.dpad_left ||
engine.gamepad2.dpad_left){ // down position
robot.pServoRotate.setPosition(0.70);
}
/* ............................................................................ grab */
if(engine.gamepad1.left_stick_x>0.5|| engine.gamepad1.right_stick_x<-0.5){ // in
if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
engine.gamepad2.x){ // in
robot.pServoGrab.setPosition(0.9);
}
if(engine.gamepad1.left_stick_x<-0.5){ // small out
if(engine.gamepad1.back ||
engine.gamepad2.back){ // small out
robot.pServoGrab.setPosition(0.50);
}
if(engine.gamepad1.right_stick_x>0.5){ // big out
if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
engine.gamepad2.b){ // big out
robot.pServoGrab.setPosition(0.0);
}
/* ............................................................................ carousel */