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Compensating for servo offset

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This commit is contained in:
Sodi
2022-12-31 11:59:23 -06:00
parent daf15a1b95
commit 9cb9806620
1 changed files with 13 additions and 14 deletions
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27
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -20,7 +20,7 @@ public class PhoenixTeleOPState extends CyberarmState {
private int CyclingArmUpAndDown = 0;
private double RobotRotation;
private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.25, topServoOffset = 0.05;
private double MinimalPower = 0.25, topServoOffset = -0.05;
private GamepadChecker gamepad1Checker, gamepad2Checker;
private int OCD;
@@ -67,12 +67,11 @@ public class PhoenixTeleOPState extends CyberarmState {
robot.LowRiserRight.setDirection(Servo.Direction.REVERSE);
robot.LowRiserLeft.setPosition(0.45);
robot.LowRiserRight.setPosition(0.45);
robot.HighRiserLeft.setPosition(0.45 + topServoOffset);
robot.HighRiserRight.setPosition(0.45);
robot.HighRiserLeft.setPosition(0.45);
robot.HighRiserRight.setPosition(0.45 + topServoOffset);
robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
topServoOffset = robot.HighRiserRight.getPosition() + 0.05;
gamepad1Checker = new GamepadChecker(engine, engine.gamepad1);
gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
OCD = 0;
@@ -306,7 +305,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
@@ -317,7 +316,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
}
@@ -327,7 +326,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.HighRiserLeft.getPosition() < 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
@@ -345,7 +344,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.HighRiserLeft.getPosition() > 0.45 && robot.LowRiserLeft.getPosition() < 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
}
@@ -388,7 +387,7 @@ public class PhoenixTeleOPState extends CyberarmState {
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() <= 0.46) {
@@ -407,7 +406,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.LowRiserLeft.getPosition() > 0.44 && robot.HighRiserLeft.getPosition() > 0.66) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
@@ -421,7 +420,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
@@ -441,7 +440,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.8) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
@@ -455,7 +454,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.79) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
@@ -468,7 +467,7 @@ public class PhoenixTeleOPState extends CyberarmState {
if (robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05 + topServoOffset);
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}