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Adding run-to on arm heights and telemetry

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This commit is contained in:
Sodi
2022-12-13 20:30:43 -06:00
parent 29fdc7d91d
commit 714000a7df
2 changed files with 38 additions and 114 deletions
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2
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -127,6 +127,8 @@ public class PhoenixBot1 {
// Dead Wheel encoder for driving // Dead Wheel encoder for driving
OdometerEncoder = engine.hardwareMap.dcMotor.get("odometer encoder");
OdometerEncoder.setDirection(DcMotorSimple.Direction.FORWARD); OdometerEncoder.setDirection(DcMotorSimple.Direction.FORWARD);
OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
OdometerEncoder.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); OdometerEncoder.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

150
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
View File

@@ -1,6 +1,7 @@
package org.timecrafters.TeleOp.states; package org.timecrafters.TeleOp.states;
import android.annotation.SuppressLint; import android.annotation.SuppressLint;
import android.widget.Switch;
import com.qualcomm.hardware.bosch.BNO055IMU; import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.Gamepad;
@@ -20,6 +21,7 @@ public class PhoenixTeleOPState extends CyberarmState {
private double RotationTarget, DeltaRotation; private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.2; private double MinimalPower = 0.2;
private GamepadChecker gamepad1Checker, gamepad2Checker; private GamepadChecker gamepad1Checker, gamepad2Checker;
private int OCD;
public PhoenixTeleOPState(PhoenixBot1 robot) { public PhoenixTeleOPState(PhoenixBot1 robot) {
this.robot = robot; this.robot = robot;
@@ -51,6 +53,7 @@ public class PhoenixTeleOPState extends CyberarmState {
engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Left Pole Distance", robot.leftPoleDistance.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Left Pole Distance", robot.leftPoleDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("OCD", OCD);
} }
@Override @Override
@@ -67,6 +70,7 @@ public class PhoenixTeleOPState extends CyberarmState {
gamepad1Checker = new GamepadChecker(engine, engine.gamepad1); gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
gamepad2Checker = new GamepadChecker(engine, engine.gamepad2); gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
OCD = 0;
} }
@SuppressLint("SuspiciousIndentation") @SuppressLint("SuspiciousIndentation")
@@ -386,127 +390,45 @@ public class PhoenixTeleOPState extends CyberarmState {
// //
// } // }
if (engine.gamepad2.left_bumper) { if (engine.gamepad2.right_bumper) {
if (robot.HighRiserLeft.getPosition() < 0.73) { OCD = 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.HighRiserLeft.getPosition() > 0.77 && robot.LowRiserLeft.getPosition() < 0.47) {
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.HighRiserLeft.getPosition() > 0.77 && robot.LowRiserLeft.getPosition() > 0.47) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
}
}
// if (!engine.gamepad2.left_bumper) {
// if (robot.HighRiserLeft.getPosition() < 0.73) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.HighRiserLeft.setPosition(0.73);
// robot.HighRiserRight.setPosition(0.73);
// }
// }
// }
} }
if (engine.gamepad2.right_bumper) { if (engine.gamepad2.left_bumper) {
if (robot.HighRiserLeft.getPosition() < 0.85) { OCD = 2;
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() < 0.6 && robot.HighRiserLeft.getPosition() >= 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
if (robot.LowRiserLeft.getPosition() > 0.8) {
if (robot.HighRiserLeft.getPosition() > 0.87 && robot.LowRiserLeft.getPosition() < 0.7) {
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 (!engine.gamepad2.right_bumper) {
// if (robot.HighRiserLeft.getPosition() < 0.85) {
// 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() < 0.6 && robot.HighRiserLeft.getPosition() >= 0.85) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// }
// }
// if (robot.HighRiserLeft.getPosition() > 0.87) {
// 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 (engine.gamepad2.x) { if (engine.gamepad2.x) {
if (robot.HighRiserLeft.getPosition() < 0.85) { OCD = 3;
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() < 0.75 && robot.HighRiserLeft.getPosition() > 0.7) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
// if (!engine.gamepad2.x) {
// if (robot.HighRiserLeft.getPosition() < 0.85) {
// 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() < 0.75 && robot.HighRiserLeft.getPosition() > 0.7) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// lastStepTime = System.currentTimeMillis();
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
// }
// }
// }
} }
if (engine.gamepad2.b) {
OCD = 4;
}
if (OCD == 1) {
switch (OCD) {
case 1:
if (robot.HighRiserLeft.getPosition() > 0.5 && 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() > 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
}
case 2:
}
}
gamepad1Checker.update(); gamepad1Checker.update();
gamepad2Checker.update(); gamepad2Checker.update();