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Added a Run-to position for the servos on the final robot, testing Mr. Badger's suggestion, take 1.

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Sodi
2022-09-29 19:39:43 -05:00
parent 02f9f065f0
commit a6aadd3185
1 changed files with 10 additions and 22 deletions
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30
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
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@@ -40,8 +40,9 @@ public class PrototypeTeleOPState extends CyberarmState {
robot.collectorWrist.setPosition(1); robot.collectorWrist.setPosition(1);
robot.RackRiserLeft.setPosition(0.5); robot.RackRiserLeft.setPosition(0.5);
robot.RackRiserRight.setPosition(0.5); robot.RackRiserRight.setPosition(0.5);
robot.FrontRiserLeft.setPosition(0.5); robot.FrontRiserLeft.setPosition(1);
robot.FrontRiserRight.setPosition(0.5); 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); robot.armMotor.setTargetPosition(armTargetPosition);
if (engine.gamepad1.a) { if (engine.gamepad1.a) {
robot.RackRiserLeft.setPosition(0); robot.RackRiserLeft.setPosition(0);
robot.RackRiserRight.setPosition(1); robot.RackRiserRight.setPosition(1);
} }
if (engine.gamepad1.x) { if (engine.gamepad1.x) {
robot.RackRiserLeft.setPosition(1); robot.RackRiserLeft.setPosition(1);
robot.RackRiserRight.setPosition(0); robot.RackRiserRight.setPosition(0);
} }
if (engine.gamepad2.right_stick_y > 0.1) { if (engine.gamepad2.right_stick_y > 0.1) {
robot.RackRiserRight.setPosition(1); robot.RackRiserRight.setPosition(1);
robot.RackRiserLeft.setPosition(-1); robot.RackRiserLeft.setPosition(-1);
} }
if (engine.gamepad2.right_stick_y < -0.1) { if (engine.gamepad2.right_stick_y < -0.1) {
robot.RackRiserRight.setPosition(-1); robot.RackRiserRight.setPosition(-1);
robot.RackRiserLeft.setPosition(1); robot.RackRiserLeft.setPosition(1);
} }
if (engine.gamepad2.left_stick_y > 0.1) { if (engine.gamepad2.left_stick_y > 0.1) {
robot.FrontRiserLeft.setPosition(-1); robot.FrontRiserLeft.setPosition(-1);
robot.FrontRiserRight.setPosition(1); robot.FrontRiserRight.setPosition(1);
} }
if (engine.gamepad2.left_stick_y < -0.1) { if (engine.gamepad2.left_stick_y < -0.1) {
robot.FrontRiserLeft.setPosition(1); robot.FrontRiserLeft.setPosition(1);
robot.FrontRiserRight.setPosition(-1); robot.FrontRiserRight.setPosition(-1);
} }
if (engine.gamepad2.right_bumper) { if (engine.gamepad2.right_bumper) {
robot.RackRiserRight.setPosition(1);
robot.RackRiserRight.setPosition(0.5); robot.RackRiserLeft.setPosition(0);
robot.RackRiserLeft.setPosition(0.5);
} }
if (engine.gamepad2.left_bumper) { if (engine.gamepad2.left_bumper) {
robot.FrontRiserRight.setPosition(0);
robot.FrontRiserLeft.setPosition(1);
}
robot.FrontRiserRight.setPosition(0.5);
robot.FrontRiserLeft.setPosition(0.5);
} }
} }
}