mirror of
https://github.com/TimeCrafters/FTC_2022
synced 2025-12-15 22:22:35 +00:00
Slowing the button rotation on TeleOP and narrowing the parameters, cleaning up commented code, Sprint 3 TeleOP.
This commit is contained in:
Sodi
@@ -13,24 +13,12 @@ import org.cyberarm.engine.V2.GamepadChecker;
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public class PrototypeTeleOPState extends CyberarmState {
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private final PrototypeBot1 robot;
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public boolean A;
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public boolean X;
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public boolean Y;
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private boolean bprev; // sticky key variable for the gamepad
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private double drivePower = 1;
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private boolean UpDPad;
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private double collectorRiserPosition;
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private boolean raiseHighRiser = true;
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private long lastStepTime = 0, BeginningofActionTime;
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private boolean raiseLowRiser = true;
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private double speed = 1; // used for the normal speed while driving
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private double slowSpeed = 0.5; // used for slow mode speed while driving
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private long lastStepTime = 0;
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private int CyclingArmUpAndDown = 0;
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private int DriveForwardAndBack, AutoChain;
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private int RobotPosition, RobotStartingPosition;
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private double RobotRotation;
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private double RotationTarget, DeltaRotation;
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private double MinimalPower;
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private double MinimalPower = 0.2;
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private GamepadChecker gamepad1Checker, gamepad2Checker;
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public PrototypeTeleOPState(PrototypeBot1 robot) {
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@@ -59,12 +47,9 @@ public class PrototypeTeleOPState extends CyberarmState {
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engine.telemetry.addData("High Riser Left Position", robot.HighRiserLeft.getPosition());
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engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition());
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engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
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engine.telemetry.addData("AutoChain", AutoChain);
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engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle);
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engine.telemetry.addData("Drive Power", drivePower);
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engine.telemetry.addData("Delta Rotation", DeltaRotation);
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// engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
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}
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@Override
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@@ -87,49 +72,6 @@ public class PrototypeTeleOPState extends CyberarmState {
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@Override
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public void exec() {
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//Gamepad Read
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A = engine.gamepad1.a;
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X = engine.gamepad1.x;
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Y = engine.gamepad1.y;
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UpDPad = engine.gamepad1.dpad_up;
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//drive speed toggle
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//
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// boolean b = engine.gamepad1.b;
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//
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// if (b && !bprev) {
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// bprev = true;
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// if (drivePower == speed) {
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// drivePower = slowSpeed;
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// } else {
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// drivePower = speed;
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// }
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// }
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// if (!b){
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// bprev = false;
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// }
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// //Drivetrain Variables
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// double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
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// double x = engine.gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
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// double rx = engine.gamepad1.left_stick_x;
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//
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// // Denominator is the largest motor power (absolute value) or 1
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// // This ensures all the powers maintain the same ratio, but only when
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// // at least one is out of the range [-1, 1]
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//
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// double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
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// double frontLeftPower = (y + x + rx) / denominator;
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// double backLeftPower = (y - x + rx) / denominator;
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// double frontRightPower = (y - x - rx) / denominator;
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// double backRightPower = (y + x - rx) / denominator;
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//
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// robot.frontLeftDrive.setPower(-frontLeftPower * speed);
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// robot.backLeftDrive.setPower(backLeftPower * speed);
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// robot.frontRightDrive.setPower(-frontRightPower * speed);
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// robot.backRightDrive.setPower(backRightPower * speed);
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if (engine.gamepad1.right_trigger > 0) {
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drivePower = engine.gamepad1.right_trigger;
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robot.backLeftDrive.setPower(drivePower);
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@@ -180,14 +122,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = 180;
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CalculateDeltaRotation();
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if (RobotRotation < 0 && RobotRotation > -179) {
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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else if (RobotRotation > 0) {
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -207,14 +149,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = 0;
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CalculateDeltaRotation();
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if (RobotRotation < -3) {
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 3) {
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -233,14 +175,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = 135;
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CalculateDeltaRotation();
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if (RobotRotation > -45 && RobotRotation < 134) {//CCW
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < -45 || RobotRotation > 136) {//CW
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -260,14 +202,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = 90;
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CalculateDeltaRotation();
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if (RobotRotation > -90 && RobotRotation < 89) {//CCW
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation < -90 || RobotRotation > 91) {//CW
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -287,14 +229,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = -135;
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CalculateDeltaRotation();
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if (RobotRotation < 45 && RobotRotation > -134) {//CCW
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 45 || RobotRotation < -136) {//CW
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -314,14 +256,14 @@ public class PrototypeTeleOPState extends CyberarmState {
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RotationTarget = -90;
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CalculateDeltaRotation();
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if (RobotRotation < 90 && RobotRotation > -89) {//CCW
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drivePower = (1 * DeltaRotation/180) + 0.3;
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drivePower = (1 * DeltaRotation/180) + MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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robot.frontRightDrive.setPower(-drivePower);
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}
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if (RobotRotation > 90 || RobotRotation < -91) {//CW
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drivePower = (-1 * DeltaRotation/180) - 0.3;
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drivePower = (-1 * DeltaRotation/180) - MinimalPower;
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robot.backLeftDrive.setPower(drivePower);
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robot.backRightDrive.setPower(-drivePower);
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robot.frontLeftDrive.setPower(drivePower);
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@@ -336,18 +278,6 @@ public class PrototypeTeleOPState extends CyberarmState {
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}
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}
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// if (engine.gamepad1.start) {
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// BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
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//
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// robot.imu.initialize(parameters);
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//
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// parameters.mode = BNO055IMU.SensorMode.IMU;
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// parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
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// parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
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// parameters.loggingEnabled = false;
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//
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// }
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if (engine.gamepad2.dpad_left) {
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robot.collectorLeft.setPower(-1);
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robot.collectorRight.setPower(-1);
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@@ -461,127 +391,6 @@ public class PrototypeTeleOPState extends CyberarmState {
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//
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// }
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//
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// if (engine.gamepad2.b) {
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//
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// robot.collectorLeft.setPower(1);
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// robot.collectorRight.setPower(-1);
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//
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// }
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//
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// if (engine.gamepad2.x) {
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//
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// robot.collectorLeft.setPower(-1);
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// robot.collectorRight.setPower(1);
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//
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// }
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////
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//// }
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////
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//// if (engine.gamepad2.right_stick_y < -0.1) {
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//// robot.LowRiserRight.setPosition(0.6);
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//// robot.LowRiserLeft.setPosition(0.6);
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//// }
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////
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//// if (engine.gamepad2.right_stick_y > 0.1) {
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//// robot.LowRiserRight.setPosition(0.45);
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//// robot.LowRiserLeft.setPosition(0.45);
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//// }
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//
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//// if (engine.gamepad2.start) {
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//// if (System.currentTimeMillis() - lastStepTime >= 150) {
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//// lastStepTime = System.currentTimeMillis();
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////
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//// if (raiseHighRiser) {
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//// if (robot.HighRiserLeft.getPosition() >= 1) {
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//// if (raiseLowRiser) {
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//// raiseHighRiser = false;
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//// }
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//// } else {
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//// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
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//// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
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//// }
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//// } else {
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//// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.035);
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//// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.035);
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////
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//// if (robot.HighRiserLeft.getPosition() <= 0.45) {
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//// raiseHighRiser = true;
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//// }
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//// }
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//// }
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//// }
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// // SPENCER____________________________________________________________________
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// if (engine.gamepad1.start) {
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// RobotPosition = robot.backRightDrive.getCurrentPosition();
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//
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// switch (DriveForwardAndBack) {
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//
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// case 0:
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// RobotStartingPosition = RobotPosition;
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// drivePower = 1;
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//
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// DriveForwardAndBack += 1;
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// break;
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//
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// case 1:
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// if (RobotPosition - RobotStartingPosition < 6250){
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// robot.backLeftDrive.setPower(drivePower);
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// robot.backRightDrive.setPower(drivePower);
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// robot.frontLeftDrive.setPower(drivePower);
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// robot.frontRightDrive.setPower(drivePower);
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// } else
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// {
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// DriveForwardAndBack += 1;
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// drivePower = -1;
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// }
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// break;
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// case 2:
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// if (RobotPosition - RobotStartingPosition >= 0) {
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// robot.backLeftDrive.setPower(drivePower);
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// robot.backRightDrive.setPower(drivePower);
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// robot.frontLeftDrive.setPower(drivePower);
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// robot.frontRightDrive.setPower(drivePower);
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// } else
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// {
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// DriveForwardAndBack += 1;
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// }
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// break;
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// case 3:
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// if (robot.imu.getAngularOrientation().firstAngle > -90) {
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//// *+90 degrees is counterclockwise, -90 is clockwise*
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// drivePower = 0.4;
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// robot.backLeftDrive.setPower(drivePower);
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// robot.backRightDrive.setPower(-drivePower);
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// robot.frontLeftDrive.setPower(drivePower);
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// robot.frontRightDrive.setPower(-drivePower);
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//
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// } else
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// {
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// DriveForwardAndBack += 1;
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// }
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// break;
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// case 4:
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// robot.backLeftDrive.setPower(0);
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// robot.backRightDrive.setPower(0);
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// robot.frontLeftDrive.setPower(0);
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// robot.frontRightDrive.setPower(0);
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// break;
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//
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//
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// } // switch ending
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// } // if gamepad 1 start ending
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// else {
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//
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//// robot.backLeftDrive.setPower(0);
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//// robot.backRightDrive.setPower(0);
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//// robot.frontLeftDrive.setPower(0);
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//// robot.frontRightDrive.setPower(0);
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//
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// }
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//
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if (engine.gamepad2.start) {
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if (System.currentTimeMillis() - lastStepTime >= 150) {
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@@ -636,225 +445,6 @@ public class PrototypeTeleOPState extends CyberarmState {
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}// end of time if statement
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}// end of start button press
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// if (engine.gamepad2.left_stick_y > 0.1) {
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// robot.HighRiserLeft.setPosition(0.5);
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// robot.HighRiserRight.setPosition(-0.5);
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// }
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//
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// if (engine.gamepad2.left_stick_y < -0.1) {
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// robot.HighRiserLeft.setPosition(-1);
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// robot.HighRiserRight.setPosition(1);
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// }
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// if (engine.gamepad2.right_bumper) {
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// robot.LowRiserRight.setPosition(1);
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// robot.LowRiserLeft.setPosition(0);
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// }
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// if (engine.gamepad2.left_bumper) {
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// robot.HighRiserRight.setPosition(0);
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// robot.HighRiserLeft.setPosition(1);
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// }
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// For raising, high risers ALWAYS raise first, for lowering, low risers ALWAYS lower first.
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// if (engine.gamepad2.back) {
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// RobotPosition = robot.backRightDrive.getCurrentPosition();
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//
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// switch (AutoChain) {
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//
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// case 0://Initialize
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// RobotStartingPosition = RobotPosition;
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// AutoChain += 1;
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// break;
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//
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// case 1://Drive 1 square forward
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// if (RobotPosition - RobotStartingPosition < 2500){
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// drivePower = 1;
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// robot.backLeftDrive.setPower(drivePower);
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// robot.backRightDrive.setPower(drivePower);
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// robot.frontLeftDrive.setPower(drivePower);
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// robot.frontRightDrive.setPower(drivePower);
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// } else
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// {
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// AutoChain += 1;
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// }
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// break;
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//
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// case 2://Rotate Counterclockwise for 45 degrees
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// RobotRotation = robot.imu.getAngularOrientation().firstAngle;
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// if (RobotRotation <= 45) {
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// drivePower = 0.4;
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// robot.backLeftDrive.setPower(-drivePower);
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// robot.backRightDrive.setPower(drivePower);
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// robot.frontLeftDrive.setPower(-drivePower);
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// robot.frontRightDrive.setPower(drivePower);
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// } else
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// {
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// AutoChain += 1;
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// drivePower = 0;
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// robot.backLeftDrive.setPower(drivePower);
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// robot.backRightDrive.setPower(drivePower);
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// robot.frontLeftDrive.setPower(drivePower);
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// robot.frontRightDrive.setPower(drivePower);
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// }
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// break;
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//
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// case 3://Raise upper arm fully
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// if (robot.HighRiserLeft.getPosition() < 1) {
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// lastStepTime = System.currentTimeMillis();
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// robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
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// robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
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// }
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// } else {
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// AutoChain +=1;
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// }
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// break;
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//
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// case 4://Raise lower arm fully
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// if (robot.LowRiserLeft.getPosition() < 1) {
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// if (System.currentTimeMillis() - lastStepTime >= 150) {
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// lastStepTime = System.currentTimeMillis();
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// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
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// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
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// }
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// } else {
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// AutoChain += 1;
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//
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// }
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// break;
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//
|
||||
// case 5://initialize for moving forward
|
||||
// RobotStartingPosition = robot.backRightDrive.getCurrentPosition();
|
||||
// AutoChain += 1;
|
||||
// break;
|
||||
//
|
||||
// case 6://Drive forward 1/4 square
|
||||
// if (RobotPosition - RobotStartingPosition < 1200){
|
||||
// drivePower = 1;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// } else
|
||||
// {
|
||||
// drivePower = 0;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// AutoChain += 1;
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 7://Lower low arm fully
|
||||
// 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);
|
||||
//
|
||||
// }
|
||||
// }else
|
||||
// {
|
||||
// AutoChain += 1;
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 8:
|
||||
// BeginningofActionTime = System.currentTimeMillis();
|
||||
// AutoChain += 1;
|
||||
//
|
||||
// break;
|
||||
// case 9://Eject
|
||||
// if (System.currentTimeMillis() - BeginningofActionTime < 2000) {
|
||||
// robot.collectorRight.setPower(-1);
|
||||
// robot.collectorLeft.setPower(1);
|
||||
//
|
||||
// } else {
|
||||
// robot.collectorLeft.setPower(0);
|
||||
// robot.collectorRight.setPower(0);
|
||||
// AutoChain += 1;
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 10://Raise low arm
|
||||
// if (robot.LowRiserLeft.getPosition() < 1) {
|
||||
// robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
|
||||
// robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
|
||||
// } else {
|
||||
// AutoChain += 1;
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 11://Initialize backup
|
||||
// RobotStartingPosition = RobotPosition;
|
||||
// AutoChain += 1;
|
||||
// break;
|
||||
//
|
||||
// case 12://Drive backwards 1/4 square
|
||||
// if (RobotPosition - RobotStartingPosition > -1200){
|
||||
// drivePower = -1;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// } else
|
||||
// {
|
||||
// drivePower = 0;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// AutoChain += 1;
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 13://Turn 45 degrees clockwise
|
||||
// RobotRotation = robot.imu.getAngularOrientation().firstAngle;
|
||||
// if (RobotRotation > 0) {
|
||||
// drivePower = 0.4;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(-drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(-drivePower);
|
||||
// } else
|
||||
// {
|
||||
// AutoChain += 1;
|
||||
// drivePower = 0;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 14://Initialize
|
||||
// RobotStartingPosition = RobotPosition;
|
||||
// AutoChain += 1;
|
||||
// break;
|
||||
//
|
||||
// case 15://Drive 1 square forward
|
||||
// if (RobotPosition - RobotStartingPosition < 2500){
|
||||
// drivePower = 1;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// } else
|
||||
// {
|
||||
// AutoChain = 999;
|
||||
// drivePower = 0;
|
||||
// robot.backLeftDrive.setPower(drivePower);
|
||||
// robot.backRightDrive.setPower(drivePower);
|
||||
// robot.frontLeftDrive.setPower(drivePower);
|
||||
// robot.frontRightDrive.setPower(drivePower);
|
||||
// }
|
||||
// break;
|
||||
//
|
||||
// case 999:
|
||||
//
|
||||
// break;
|
||||
|
||||
|
||||
gamepad1Checker.update();
|
||||
|
||||
Reference in New Issue
Block a user