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Adding run-to on arm heights

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This commit is contained in:
Sodi
2022-12-06 20:34:27 -06:00
parent 7d2a0d89ba
commit 78eec25840
1 changed files with 168 additions and 71 deletions
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181
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -27,14 +27,11 @@ public class PhoenixTeleOPState extends CyberarmState {
public void CalculateDeltaRotation() {
if (RotationTarget >= 0 && RobotRotation >= 0) {
DeltaRotation = Math.abs(RotationTarget - RobotRotation);
}
else if (RotationTarget <= 0 && RobotRotation <= 0) {
} else if (RotationTarget <= 0 && RobotRotation <= 0) {
DeltaRotation = Math.abs(RotationTarget - RobotRotation);
}
else if (RotationTarget >= 0 && RobotRotation <= 0) {
} else if (RotationTarget >= 0 && RobotRotation <= 0) {
DeltaRotation = Math.abs(RotationTarget + RobotRotation);
}
else if (RotationTarget <=0 && RobotRotation >= 0) {
} else if (RotationTarget <= 0 && RobotRotation >= 0) {
DeltaRotation = Math.abs(RobotRotation + RotationTarget);
}
}
@@ -77,9 +74,7 @@ public class PhoenixTeleOPState extends CyberarmState {
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
else if (engine.gamepad1.left_trigger > 0) {
} else if (engine.gamepad1.left_trigger > 0) {
drivePower = engine.gamepad1.left_trigger;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -126,15 +121,13 @@ public class PhoenixTeleOPState extends CyberarmState {
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
else if (RobotRotation >= 0) {
} else if (RobotRotation >= 0) {
drivePower = (-1 * DeltaRotation / 180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
else if (RobotRotation <= -179 || RobotRotation >= 179) {
} else if (RobotRotation <= -179 || RobotRotation >= 179) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
@@ -344,28 +337,145 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}//end of a
if (engine.gamepad2.back) {
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
if (System.currentTimeMillis() - lastStepTime >= 1500) {
robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0);
}
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (robot.HighRiserLeft.getPosition() < 1) {
// if (engine.gamepad2.back) {
// robot.backLeftDrive.setPower(1);
// robot.backRightDrive.setPower(1);
// robot.frontLeftDrive.setPower(1);
// robot.frontRightDrive.setPower(1);
// if (System.currentTimeMillis() - lastStepTime >= 1500) {
// robot.backLeftDrive.setPower(0);
// robot.backRightDrive.setPower(0);
// robot.frontLeftDrive.setPower(0);
// robot.frontRightDrive.setPower(0);
// }
// if (System.currentTimeMillis() - lastStepTime >= 150) {
// if (robot.HighRiserLeft.getPosition() < 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 (System.currentTimeMillis() - lastStepTime >= 150) {
// if (robot.LowRiserLeft.getPosition() < 1 && robot.HighRiserLeft.getPosition() == 1) {
// 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 (System.currentTimeMillis() >= 250) {
// robot.backLeftDrive.setPower(1);
// robot.backRightDrive.setPower(1);
// robot.frontLeftDrive.setPower(1);
// robot.frontRightDrive.setPower(1);
// if (System.currentTimeMillis() - lastStepTime >= 250) {
// robot.backLeftDrive.setPower(0);
// robot.backRightDrive.setPower(0);
// robot.frontLeftDrive.setPower(0);
// robot.frontRightDrive.setPower(0);
// }
// }
//
// }
if (engine.gamepad2.left_bumper) {
if (robot.HighRiserLeft.getPosition() < 0.73) {
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.left_bumper) {
if (robot.HighRiserLeft.getPosition() < 0.73) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (robot.LowRiserLeft.getPosition() < 1 && robot.HighRiserLeft.getPosition() == 1) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(0.73);
robot.HighRiserRight.setPosition(0.73);
}
}
}
}
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.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.right_stick_button) {
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.right_stick_button) {
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);
@@ -373,27 +483,14 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}
}
if (System.currentTimeMillis() >= 250) {
robot.backLeftDrive.setPower(1);
robot.backRightDrive.setPower(1);
robot.frontLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
if (System.currentTimeMillis() - lastStepTime >= 250) {
robot.backLeftDrive.setPower(0);
robot.backRightDrive.setPower(0);
robot.frontLeftDrive.setPower(0);
robot.frontRightDrive.setPower(0);
}
}
}
gamepad1Checker.update();
gamepad2Checker.update();
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (engine.gamepad1 == gamepad && button.equals("start")) {