TimeCrafters/FTC_2022
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Adding run-to on arm heights and telemetry, finished all 4 junction heights, overrides, etc.

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Sodi
2022-12-29 19:16:37 -06:00
parent d6652cc807
commit b023d883f1
1 changed files with 3 additions and 8 deletions
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11
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -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) { if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis(); lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05); robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
@@ -516,18 +516,13 @@ public class PhoenixTeleOPState extends CyberarmState {
} }
} }
public double downSensor() { 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_1 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM);
Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM); Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM);
// Distance_6 = robot.downSensor.getDistance(DistanceUnit.MM); Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5)/5;
// 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;
return Distance; return Distance;
} }