From b023d883f1fb8fbcb68d5af057a6e05da3c0fb9f Mon Sep 17 00:00:00 2001 From: Sodi Date: Thu, 29 Dec 2022 19:16:37 -0600 Subject: [PATCH] Adding run-to on arm heights and telemetry, finished all 4 junction heights, overrides, etc. --- .../TeleOp/states/PhoenixTeleOPState.java | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java index 7ebef17..df407b7 100644 --- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java +++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java @@ -304,7 +304,7 @@ public class PhoenixTeleOPState extends CyberarmState { } } - if (/*robot.LowRiserLeft.getPosition() < 0.75 &&*/ robot.HighRiserLeft.getPosition() > 0.85 && downSensor() < 840) { + if (robot.LowRiserLeft.getPosition() < 0.75 && robot.HighRiserLeft.getPosition() > 0.85) { if (System.currentTimeMillis() - lastStepTime >= 150) { lastStepTime = System.currentTimeMillis(); robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05); @@ -516,18 +516,13 @@ public class PhoenixTeleOPState extends CyberarmState { } } public double downSensor() { - double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5, Distance_6, Distance_7, Distance_8, Distance_9, Distance_10; + double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5; Distance_1 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM); -// Distance_6 = robot.downSensor.getDistance(DistanceUnit.MM); -// Distance_7 = robot.downSensor.getDistance(DistanceUnit.MM); -// Distance_8 = robot.downSensor.getDistance(DistanceUnit.MM); -// Distance_9 = robot.downSensor.getDistance(DistanceUnit.MM); -// Distance_10 = robot.downSensor.getDistance(DistanceUnit.MM); - Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5/* + Distance_6 + Distance_7 + Distance_8 + Distance_9 + Distance_10*/)/5; + Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5)/5; return Distance; }