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Fixed the buggy B-button run-to, added variables instead of constants

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This commit is contained in:
Sodi
2023-01-03 20:36:17 -06:00
parent 406f58c020
commit b598b0f97f
1 changed files with 52 additions and 37 deletions
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89
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -21,6 +21,14 @@ public class PhoenixTeleOPState extends CyberarmState {
private double RobotRotation;
private double RotationTarget, DeltaRotation;
private double MinimalPower = 0.25, topServoOffset = -0.05;
private double servoCollectLow = 0.45; //Low servos, A button
private double servoCollectHigh = 0.55; //High servos, A button
private double servoLowLow = 0.45; //Low servos, X button
private double servoLowHigh = 0.75; //High servos, X button
private double servoMedLow = 0.45; //Low servos, B button
private double servoMedHigh = 0.9; //High servos, B button
private double servoHighLow = 0.8; //Low servos, Y button
private double servoHighHigh = 0.9; //High servos, Y button
private GamepadChecker gamepad1Checker, gamepad2Checker;
private int OCD;
@@ -301,7 +309,7 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (engine.gamepad2.right_bumper) {
if (robot.HighRiserLeft.getPosition() < 1.0) {
if (robot.HighRiserLeft.getPosition() < 1.0 - Math.abs(topServoOffset)) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
@@ -377,108 +385,115 @@ public class PhoenixTeleOPState extends CyberarmState {
OCD = 4;
}
if (OCD == 1) { //Ground junction
if (robot.LowRiserLeft.getPosition() >= 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (OCD == 1) { //Ground junction/Collect
if (robot.LowRiserLeft.getPosition() >= servoCollectLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
} else if (robot.LowRiserLeft.getPosition() <= servoCollectLow &&
robot.HighRiserLeft.getPosition() > servoCollectHigh) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() <= 0.46) {
} else if (robot.LowRiserLeft.getPosition() <= servoCollectLow + 0.01 &&
robot.HighRiserLeft.getPosition() <= servoCollectHigh) {
OCD = 0;
}
}
if (OCD == 2) { //low junction
if (robot.LowRiserLeft.getPosition() > 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() > servoLowLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- low level too high
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.LowRiserLeft.getPosition() > 0.44 && robot.HighRiserLeft.getPosition() > 0.66) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.LowRiserLeft.getPosition() > servoLowLow - 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.44) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() < servoLowLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- low level too low
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoLowHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.64 && robot.HighRiserLeft.getPosition() <= 0.66) {
if (robot.LowRiserLeft.getPosition() > servoLowLow - 0.01 &&
robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh - 0.01 &&
robot.HighRiserLeft.getPosition() <= servoLowHigh + 0.01) {
OCD = 0;
}
}
if (OCD == 3) { // Medium junction
if (robot.LowRiserLeft.getPosition() > 0.46) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() > servoMedLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} // <-- low level too high
if (robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() > 0.8) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() <= servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoMedHigh + 0.01)/* <-- high level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
} // <-- top level too high
if (robot.LowRiserLeft.getPosition() < 0.44) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
} // <-- low level too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.46 && robot.HighRiserLeft.getPosition() < 0.79) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
}
if (robot.LowRiserLeft.getPosition() < servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoMedHigh - 0.01)/* <-- high level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
} // <-- high level too low
if (robot.LowRiserLeft.getPosition() > 0.44 && robot.LowRiserLeft.getPosition() <= 0.6 && robot.HighRiserLeft.getPosition() > 0.79 && robot.HighRiserLeft.getPosition() <= 0.81) {
}
if (robot.LowRiserLeft.getPosition() > servoMedLow - 0.01 &&
robot.LowRiserLeft.getPosition() <= servoMedLow &&
robot.HighRiserLeft.getPosition() > servoMedHigh - 0.01 &&
robot.HighRiserLeft.getPosition() <= servoMedHigh) {
OCD = 0;
}
}
if (OCD == 4) { // High Junction
if (robot.HighRiserLeft.getPosition() < 0.84) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.HighRiserLeft.getPosition() < servoHighHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
if (robot.LowRiserLeft.getPosition() <= 0.64) {
if (System.currentTimeMillis() - lastStepTime >= 125) {
if (robot.LowRiserLeft.getPosition() < servoHighLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
if (robot.HighRiserLeft.getPosition() >= 0.84 && robot.LowRiserLeft.getPosition() >= 0.64) {
if (robot.HighRiserLeft.getPosition() >= servoHighHigh &&
robot.LowRiserLeft.getPosition() >= servoHighLow) {
OCD = 0;
}
}