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Added a Run-to position for the servos on the final robot.

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Sodi
2022-09-23 10:51:30 -05:00
parent 404cd4d216
commit 671b8c4e6b
2 changed files with 34 additions and 8 deletions
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4
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
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@@ -9,7 +9,7 @@ import org.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeBot1 { public class PrototypeBot1 {
public Servo RackRiserLeft, RackRiserRight; public Servo RackRiserLeft, RackRiserRight, FrontRiserLeft, FrontRiserRight;
private final CyberarmEngine engine; private final CyberarmEngine engine;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, armMotor; public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, armMotor;
@@ -39,6 +39,8 @@ public class PrototypeBot1 {
collectorWrist = engine.hardwareMap.servo.get("collector wrist"); collectorWrist = engine.hardwareMap.servo.get("collector wrist");
RackRiserLeft = engine.hardwareMap.servo.get("RackRiserLeft"); RackRiserLeft = engine.hardwareMap.servo.get("RackRiserLeft");
RackRiserRight = engine.hardwareMap.servo.get("RackRiserRight"); RackRiserRight = engine.hardwareMap.servo.get("RackRiserRight");
FrontRiserLeft = engine.hardwareMap.servo.get("FrontRiserLeft");
FrontRiserRight = engine.hardwareMap.servo.get("FrontRiserRight");
//motors direction and encoders //motors direction and encoders
frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD); frontLeftDrive.setDirection(DcMotorSimple.Direction.FORWARD);

36
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
View File

@@ -38,6 +38,8 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.armMotor.setTargetPosition(armTargetPosition); robot.armMotor.setTargetPosition(armTargetPosition);
robot.armMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); robot.armMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
robot.collectorWrist.setPosition(1); robot.collectorWrist.setPosition(1);
robot.RackRiserLeft.setPosition(0.5);
robot.RackRiserRight.setPosition(0.5);
} }
@@ -174,24 +176,46 @@ public class PrototypeTeleOPState extends CyberarmState {
if (engine.gamepad1.x) { if (engine.gamepad1.x) {
robot.RackRiserLeft.setPosition(0.5); robot.RackRiserLeft.setPosition(1);
robot.RackRiserRight.setPosition(1-.5); robot.RackRiserRight.setPosition(0);
// .5's are originally .13's.
} }
if (engine.gamepad2.right_stick_y > 0.1) { if (engine.gamepad2.right_stick_y > 0.1) {
robot.RackRiserRight.setPosition(+ 1); robot.RackRiserRight.setPosition(1);
robot.RackRiserLeft.setPosition(+ 1); robot.RackRiserLeft.setPosition(-1);
} }
if (engine.gamepad2.right_stick_y < -0.1) { if (engine.gamepad2.right_stick_y < -0.1) {
robot.RackRiserLeft.setPosition(- 1);
robot.RackRiserRight.setPosition(-1); robot.RackRiserRight.setPosition(-1);
robot.RackRiserLeft.setPosition(1);
} }
if (engine.gamepad2.left_stick_y > 0.1) {
robot.FrontRiserLeft.setPosition(-1);
robot.FrontRiserRight.setPosition(1);
}
if (engine.gamepad2.left_stick_y < -0.1) {
robot.FrontRiserLeft.setPosition(1);
robot.FrontRiserRight.setPosition(-1);
}
if (engine.gamepad2.right_bumper) {
robot.RackRiserRight.setPosition(0.5);
robot.RackRiserLeft.setPosition(0.5);
}
} }
} }