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Slowing the button rotation on TeleOP and narrowing the parameters, Sprint 3 TeleOP.

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This commit is contained in:
Sodi
2022-11-01 19:46:43 -05:00
parent f3fe1ea242
commit 5c99a00552
2 changed files with 40 additions and 7 deletions
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2
TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java
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@@ -1,6 +1,7 @@
package org.timecrafters.testing.engine; package org.timecrafters.testing.engine;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.cyberarm.engine.V2.CyberarmEngine; import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.testing.states.PrototypeBot1; import org.timecrafters.testing.states.PrototypeBot1;
@@ -18,6 +19,5 @@ public class PrototypeTeleOP extends CyberarmEngine {
robot = new PrototypeBot1(this); robot = new PrototypeBot1(this);
addState(new PrototypeTeleOPState(robot)); addState(new PrototypeTeleOPState(robot));
} }
} }

39
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -2,10 +2,13 @@ package org.timecrafters.testing.states;
import android.annotation.SuppressLint; import android.annotation.SuppressLint;
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
import com.vuforia.Vuforia; import com.vuforia.Vuforia;
import org.cyberarm.engine.V2.CyberarmState; import org.cyberarm.engine.V2.CyberarmState;
import org.cyberarm.engine.V2.GamepadChecker;
public class PrototypeTeleOPState extends CyberarmState { public class PrototypeTeleOPState extends CyberarmState {
@@ -28,6 +31,7 @@ public class PrototypeTeleOPState extends CyberarmState {
private double RobotRotation; private double RobotRotation;
private double RotationTarget, DeltaRotation; private double RotationTarget, DeltaRotation;
private double MinimalPower; private double MinimalPower;
private GamepadChecker gamepad1Checker, gamepad2Checker;
public PrototypeTeleOPState(PrototypeBot1 robot) { public PrototypeTeleOPState(PrototypeBot1 robot) {
this.robot = robot; this.robot = robot;
@@ -74,6 +78,9 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.HighRiserLeft.setPosition(0.45); robot.HighRiserLeft.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45); robot.HighRiserRight.setPosition(0.45);
gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
} }
@SuppressLint("SuspiciousIndentation") @SuppressLint("SuspiciousIndentation")
@@ -170,7 +177,7 @@ public class PrototypeTeleOPState extends CyberarmState {
if (engine.gamepad1.a) { if (engine.gamepad1.a) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = -180; RotationTarget = 180;
CalculateDeltaRotation(); CalculateDeltaRotation();
if (RobotRotation < 0 && RobotRotation > -179) { if (RobotRotation < 0 && RobotRotation > -179) {
drivePower = (1 * DeltaRotation/180) + 0.3; drivePower = (1 * DeltaRotation/180) + 0.3;
@@ -179,14 +186,14 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower); robot.frontRightDrive.setPower(-drivePower);
} }
if (RobotRotation > 0) { else if (RobotRotation > 0) {
drivePower = (-1 * DeltaRotation/180) - 0.3; drivePower = (-1 * DeltaRotation/180) - 0.3;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower); robot.frontRightDrive.setPower(-drivePower);
} }
if (RobotRotation < -179 || RobotRotation > 179) { else if (RobotRotation <= -179 || RobotRotation >= 179) {
drivePower = 0; drivePower = 0;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower);
@@ -329,6 +336,18 @@ public class PrototypeTeleOPState extends CyberarmState {
} }
} }
// if (engine.gamepad1.start) {
// BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
//
// robot.imu.initialize(parameters);
//
// parameters.mode = BNO055IMU.SensorMode.IMU;
// parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
// parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
// parameters.loggingEnabled = false;
//
// }
if (engine.gamepad2.dpad_left) { if (engine.gamepad2.dpad_left) {
robot.collectorLeft.setPower(-1); robot.collectorLeft.setPower(-1);
robot.collectorRight.setPower(-1); robot.collectorRight.setPower(-1);
@@ -838,7 +857,21 @@ public class PrototypeTeleOPState extends CyberarmState {
// break; // break;
gamepad1Checker.update();
gamepad2Checker.update();
} }
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (engine.gamepad1 == gamepad && button.equals("start")) {
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.mode = BNO055IMU.SensorMode.IMU;
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.loggingEnabled = false;
robot.imu.initialize(parameters);
} }
}
}