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Added debugging telemetry to CollectorDistanceState that showed that there was most likely not a bug with the distance delta- but that the 2M distance sensor is flakey at long ranges, Fixed mecanum minibot unable to grab

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Cyberarm
2022-11-05 16:58:32 -05:00
parent ddba73b6cb
commit f5805567e7
2 changed files with 27 additions and 10 deletions
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4
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/MecanumMinibotTeleOpState.java
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@@ -71,7 +71,7 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
}
/* ............................................................................ grab */
if(engine.gamepad1.left_stick_x>0.5 || engine.gamepad1.right_stick_x<-0.5 ||
if(engine.gamepad1.left_stick_x < -0.5 || engine.gamepad1.right_stick_x < -0.5 ||
engine.gamepad2.x){ // in
robot.pServoGrab.setPosition(0.9);
}
@@ -79,7 +79,7 @@ public class MecanumMinibotTeleOpState extends CyberarmState {
engine.gamepad2.back){ // small out
robot.pServoGrab.setPosition(0.50);
}
if(engine.gamepad1.right_stick_x>0.5 || engine.gamepad1.right_stick_x>0.5 ||
if(engine.gamepad1.left_stick_x > 0.5 || engine.gamepad1.right_stick_x > 0.5 ||
engine.gamepad2.b){ // big out
robot.pServoGrab.setPosition(0.0);
}