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Arm servos programmed and fixed, Driving Motors fixed

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This commit is contained in:
SpencerPiha
2022-10-13 20:10:55 -05:00
parent f78b69a6f8
commit 998a3b98ea
1 changed files with 35 additions and 31 deletions
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66
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -1,5 +1,7 @@
package org.timecrafters.testing.states;
import android.annotation.SuppressLint;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
@@ -22,8 +24,8 @@ public class PrototypeTeleOPState extends CyberarmState {
private boolean raiseHighRiser = true;
private long lastStepTime = 0;
private boolean raiseLowRiser = true;
private double speed = 0.5; // used for the normal speed while driving
private double slowSpeed = 0.25; // used for slow mode speed while driving
private double speed = 1; // used for the normal speed while driving
private double slowSpeed = 0.5; // used for slow mode speed while driving
private int CyclingArmUpAndDown = 0;
public PrototypeTeleOPState(PrototypeBot1 robot) {
@@ -41,6 +43,7 @@ public class PrototypeTeleOPState extends CyberarmState {
engine.telemetry.addData("High Riser Left Position", robot.HighRiserLeft.getPosition());
engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition());
engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
// engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
}
@@ -62,6 +65,7 @@ public class PrototypeTeleOPState extends CyberarmState {
}
@SuppressLint("SuspiciousIndentation")
@Override
public void exec() {
@@ -74,25 +78,25 @@ public class PrototypeTeleOPState extends CyberarmState {
//drive speed toggle
boolean b = engine.gamepad1.b;
if (b && !bprev) {
bprev = true;
if (drivePower == speed) {
drivePower = slowSpeed;
} else {
drivePower = speed;
}
}
if (!b){
bprev = false;
}
//
// boolean b = engine.gamepad1.b;
//
// if (b && !bprev) {
// bprev = true;
// if (drivePower == speed) {
// drivePower = slowSpeed;
// } else {
// drivePower = speed;
// }
// }
// if (!b){
// bprev = false;
// }
//Drivetrain Variables
double y = -engine.gamepad1.left_stick_y * 0.5; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.right_stick_x * 1.1 * 0.5; // Counteract imperfect strafing
double rx = engine.gamepad1.left_stick_x * 0.5;
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
double x = engine.gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
double rx = engine.gamepad1.left_stick_x;
// Denominator is the largest motor power (absolute value) or 1
// This ensures all the powers maintain the same ratio, but only when
@@ -193,15 +197,15 @@ public class PrototypeTeleOPState extends CyberarmState {
// robot.LowRiserRight.setPosition(0);
// }
//
if (engine.gamepad2.right_stick_y < -0.1) {
robot.LowRiserRight.setPosition(0.6);
robot.LowRiserLeft.setPosition(0.6);
}
if (engine.gamepad2.right_stick_y > 0.1) {
robot.LowRiserRight.setPosition(0.45);
robot.LowRiserLeft.setPosition(0.45);
}
// if (engine.gamepad2.right_stick_y < -0.1) {
// robot.LowRiserRight.setPosition(0.6);
// robot.LowRiserLeft.setPosition(0.6);
// }
//
// if (engine.gamepad2.right_stick_y > 0.1) {
// robot.LowRiserRight.setPosition(0.45);
// robot.LowRiserLeft.setPosition(0.45);
// }
// if (engine.gamepad2.start) {
// if (System.currentTimeMillis() - lastStepTime >= 150) {
@@ -236,7 +240,7 @@ public class PrototypeTeleOPState extends CyberarmState {
// upper arm up
case 0:
if (robot.HighRiserLeft.getPosition() <= 1) {
if (robot.HighRiserLeft.getPosition() < 1) {
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
} else {
@@ -246,7 +250,7 @@ public class PrototypeTeleOPState extends CyberarmState {
// lower arm up
case 1:
if (robot.LowRiserLeft.getPosition() <= 1) {
if (robot.LowRiserLeft.getPosition() < 1) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
} else {
@@ -256,7 +260,7 @@ public class PrototypeTeleOPState extends CyberarmState {
// lower arm down
case 2:
if (robot.LowRiserLeft.getPosition() >= 0.45) {
if (robot.LowRiserLeft.getPosition() >= 0.44) {
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
} else {