From a6aadd31851b512b4b0541f7e0e6a8635ea21ad6 Mon Sep 17 00:00:00 2001 From: Sodi Date: Thu, 29 Sep 2022 19:39:43 -0500 Subject: [PATCH] Added a Run-to position for the servos on the final robot, testing Mr. Badger's suggestion, take 1. --- .../testing/states/PrototypeTeleOPState.java | 32 ++++++------------- 1 file changed, 10 insertions(+), 22 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java index 8baf25a..bfbd3ef 100644 --- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java +++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java @@ -40,8 +40,9 @@ public class PrototypeTeleOPState extends CyberarmState { robot.collectorWrist.setPosition(1); robot.RackRiserLeft.setPosition(0.5); robot.RackRiserRight.setPosition(0.5); - robot.FrontRiserLeft.setPosition(0.5); - robot.FrontRiserRight.setPosition(0.5); + robot.FrontRiserLeft.setPosition(1); + robot.FrontRiserRight.setPosition(0); +// ~RightRiser's always are setPosition'ed(1), ~LeftRisers always are setPosition'ed(0) or vice versa if wrong. } @@ -170,59 +171,46 @@ public class PrototypeTeleOPState extends CyberarmState { robot.armMotor.setTargetPosition(armTargetPosition); if (engine.gamepad1.a) { - robot.RackRiserLeft.setPosition(0); robot.RackRiserRight.setPosition(1); - } if (engine.gamepad1.x) { - robot.RackRiserLeft.setPosition(1); robot.RackRiserRight.setPosition(0); - } if (engine.gamepad2.right_stick_y > 0.1) { - robot.RackRiserRight.setPosition(1); robot.RackRiserLeft.setPosition(-1); - } if (engine.gamepad2.right_stick_y < -0.1) { - robot.RackRiserRight.setPosition(-1); robot.RackRiserLeft.setPosition(1); - } if (engine.gamepad2.left_stick_y > 0.1) { - robot.FrontRiserLeft.setPosition(-1); robot.FrontRiserRight.setPosition(1); - } if (engine.gamepad2.left_stick_y < -0.1) { - robot.FrontRiserLeft.setPosition(1); robot.FrontRiserRight.setPosition(-1); - } if (engine.gamepad2.right_bumper) { - - robot.RackRiserRight.setPosition(0.5); - robot.RackRiserLeft.setPosition(0.5); - + robot.RackRiserRight.setPosition(1); + robot.RackRiserLeft.setPosition(0); } if (engine.gamepad2.left_bumper) { - - robot.FrontRiserRight.setPosition(0.5); - robot.FrontRiserLeft.setPosition(0.5); - + robot.FrontRiserRight.setPosition(0); + robot.FrontRiserLeft.setPosition(1); } + + + } } \ No newline at end of file