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Adding run-to on arm heights and telemetry, finished all 4 junction heights

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This commit is contained in:
Sodi
2022-12-22 19:17:23 -06:00
parent f6f1b6388f
commit 9f1ca987a9
1 changed files with 85 additions and 32 deletions
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131
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -53,7 +53,7 @@ public class PhoenixTeleOPState extends CyberarmState {
engine.telemetry.addData("Collector Height", robot.downSensor.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("OCD", OCD);
// engine.telemetry.addData("OCD", OCD);
}
@Override
@@ -390,23 +390,109 @@ public class PhoenixTeleOPState extends CyberarmState {
//
// }
if (engine.gamepad2.y) {
if (engine.gamepad2.a) {
OCD = 1;
}
if (engine.gamepad2.a) {
if (engine.gamepad2.x) {
OCD = 2;
}
if (engine.gamepad2.x) {
if (engine.gamepad2.b && !engine.gamepad2.start) {
OCD = 3;
}
if (engine.gamepad2.b && !engine.gamepad2.start) {
if (engine.gamepad2.y) {
OCD = 4;
}
if (OCD == 1) {
if (OCD == 1) { //Ground junction
if (robot.LowRiserLeft.getPosition() >= 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.5 && robot.HighRiserLeft.getPosition() > 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.5 && robot.HighRiserLeft.getPosition() <= 0.5) {
OCD = 0;
}
}
if (OCD == 2) { //low junction
if (robot.LowRiserLeft.getPosition() > 0.5 && robot.HighRiserLeft.getPosition() > 0.75) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- both levels too high
if (robot.LowRiserLeft.getPosition() <= 0.5 && robot.LowRiserLeft.getPosition() > 0.49 && robot.HighRiserLeft.getPosition() > 0.75) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.49 && robot.HighRiserLeft.getPosition() < 0.74) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- both levels too low
if (robot.LowRiserLeft.getPosition() > 0.49 && robot.LowRiserLeft.getPosition() >= 0.5 && robot.HighRiserLeft.getPosition() < 0.74) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.49 && robot.LowRiserLeft.getPosition() <= 0.5 && robot.HighRiserLeft.getPosition() > 0.74 && robot.HighRiserLeft.getPosition() <= 0.75) {
OCD = 0;
}
}
if (OCD == 3) { // Medium junction
if (robot.LowRiserLeft.getPosition() > 0.6 && robot.HighRiserLeft.getPosition() > 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- both levels too high
if (robot.LowRiserLeft.getPosition() <= 0.6 && robot.LowRiserLeft.getPosition() > 0.59 && robot.HighRiserLeft.getPosition() > 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.59 && robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- both levels too low
if (robot.LowRiserLeft.getPosition() > 0.59 && robot.LowRiserLeft.getPosition() <= 0.6 && robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.59 && robot.LowRiserLeft.getPosition() <= 0.6 && robot.HighRiserLeft.getPosition() > 0.84 && robot.HighRiserLeft.getPosition() <= 0.85) {
OCD = 0;
}
}
if (OCD == 4) { // High Junction
if (robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
@@ -426,39 +512,6 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}
if (OCD == 2) {
if (robot.LowRiserLeft.getPosition() >= 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.5 && robot.HighRiserLeft.getPosition() > 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.5 && robot.HighRiserLeft.getPosition() <= 0.5) {
OCD = 0;
}
}
if (OCD == 3) {
if (robot.LowRiserLeft.getPosition() > 0.5 && robot.HighRiserLeft.getPosition() < 0.75) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.HighRiserLeft.getPosition() < 0.75) {
}
}
gamepad1Checker.update();
gamepad2Checker.update();
}