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Slowing the button rotation on TeleOP, Sprint 3 TeleOP, take 2.

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This commit is contained in:
Sodi
2022-10-29 11:27:53 -05:00
parent a5dd4e20b3
commit 6286a2b715
1 changed files with 9 additions and 8 deletions
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17
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -41,6 +41,7 @@ public class PrototypeTeleOPState extends CyberarmState {
engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition()); engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
engine.telemetry.addData("AutoChain", AutoChain); engine.telemetry.addData("AutoChain", AutoChain);
engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle); engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle);
engine.telemetry.addData("Drive Power", drivePower);
// engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown); // engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
} }
@@ -152,14 +153,14 @@ public class PrototypeTeleOPState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = -180; RotationTarget = -180;
if (RobotRotation < 0 && RobotRotation > -177) { if (RobotRotation < 0 && RobotRotation > -177) {
drivePower = 1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (1 * (Math.abs(RobotRotation - RotationTarget)/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 > 0) { if (RobotRotation > 0) {
drivePower = -1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (-1 * (Math.abs(RobotRotation - RotationTarget)/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);
@@ -178,14 +179,14 @@ public class PrototypeTeleOPState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = 0; RotationTarget = 0;
if (RobotRotation < -3) { if (RobotRotation < -3) {
drivePower = -1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (-1 * (Math.abs(RobotRotation - RotationTarget)/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 > 3) { if (RobotRotation > 3) {
drivePower = 1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (1 * (Math.abs(RobotRotation - RotationTarget)/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);
@@ -203,14 +204,14 @@ public class PrototypeTeleOPState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = 135; RotationTarget = 135;
if (RobotRotation > -45 && RobotRotation < 132) {//CCW if (RobotRotation > -45 && RobotRotation < 132) {//CCW
drivePower = -1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (-1 * (Math.abs(RobotRotation - RotationTarget)/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 < -45 || RobotRotation > 138) {//CW if (RobotRotation < -45 || RobotRotation > 138) {//CW
drivePower = 1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (1 * (Math.abs(RobotRotation - RotationTarget)/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);
@@ -228,14 +229,14 @@ public class PrototypeTeleOPState extends CyberarmState {
RobotRotation = robot.imu.getAngularOrientation().firstAngle; RobotRotation = robot.imu.getAngularOrientation().firstAngle;
RotationTarget = -135; RotationTarget = -135;
if (RobotRotation < 45 && RobotRotation > -132) {//CCW if (RobotRotation < 45 && RobotRotation > -132) {//CCW
drivePower = 1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (1 * (Math.abs(RobotRotation - RotationTarget)/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 > 45 || RobotRotation < -138) {//CW if (RobotRotation > 45 || RobotRotation < -138) {//CW
drivePower = -1 * (Math.abs(RobotRotation - RotationTarget)/180) + 0.3; drivePower = (-1 * (Math.abs(RobotRotation - RotationTarget)/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);