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Adding TeleOP rotation buttons, y=0, x=135, a=180, b=-135

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This commit is contained in:
Sodi
2022-10-21 20:36:53 -05:00
parent 1856a94a0d
commit bb5fc381b0
3 changed files with 129 additions and 18 deletions
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17
.idea/deploymentTargetDropDown.xml generated
View File

@@ -1,17 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="deploymentTargetDropDown">
<runningDeviceTargetSelectedWithDropDown>
<Target>
<type value="RUNNING_DEVICE_TARGET" />
<deviceKey>
<Key>
<type value="SERIAL_NUMBER" />
<value value="192.168.43.1:5555" />
</Key>
</deviceKey>
</Target>
</runningDeviceTargetSelectedWithDropDown>
<timeTargetWasSelectedWithDropDown value="2022-10-19T00:43:33.788807500Z" />
</component>
</project>

2
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeBot1.java
View File

@@ -66,7 +66,7 @@ public class PrototypeBot1 {
imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
configuration = new TimeCraftersConfiguration("Phoenix");
///configuration = new TimeCraftersConfiguration("Phoenix");
//motors configuration
frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");

128
TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
View File

@@ -39,6 +39,7 @@ public class PrototypeTeleOPState extends CyberarmState {
engine.telemetry.addData("Low Riser Right Position", robot.LowRiserRight.getPosition());
engine.telemetry.addData("Low Riser Left Position", robot.LowRiserLeft.getPosition());
engine.telemetry.addData("AutoChain", AutoChain);
engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle);
// engine.telemetry.addData("Cycling Arm up / Down Case", CyclingArmUpAndDown);
}
@@ -109,6 +110,133 @@ public class PrototypeTeleOPState extends CyberarmState {
//
// robot.collectorLeft.setPower(0);
// robot.collectorRight.setPower(0);
if (engine.gamepad2.dpad_up) {
robot.collectorLeft.setPower(1);
}
if (engine.gamepad1.right_trigger > 0) {
drivePower = engine.gamepad1.right_trigger;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(drivePower);
}
if (engine.gamepad1.left_trigger > 0) {
drivePower = engine.gamepad1.left_trigger;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (engine.gamepad1.right_trigger < 0.1&&engine.gamepad1.left_trigger < 0.1
&& !engine.gamepad1.y&& !engine.gamepad1.x&& !engine.gamepad1.a&& !engine.gamepad1.b) {
drivePower = 0;
robot.backLeftDrive.setPower(-drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(-drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (engine.gamepad1.a) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation < 0) {
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 0) {
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <-177 || RobotRotation >177) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
}
if (engine.gamepad1.y) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation < -3) {
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 3) {
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation >-3 && RobotRotation <3) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
}
if (engine.gamepad1.x) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation > -45&& RobotRotation <132) {//CCW
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation < -45 || RobotRotation > 138) {//CW
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <138 && RobotRotation >132) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
}
if (engine.gamepad1.b) {
RobotRotation = robot.imu.getAngularOrientation().firstAngle;
if (RobotRotation < 45&& RobotRotation > -132) {//CCW
drivePower = 0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if(RobotRotation > 45||RobotRotation < -138) {//CW
drivePower = -0.4;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
if (RobotRotation <-132 && RobotRotation >-138) {
drivePower = 0;
robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower);
robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower);
}
}
//
// }
//