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Raised target low servo positions by 0.05, moved override on bumpers to outside of incrementing if-statement.

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This commit is contained in:
Sodi
2023-01-07 20:08:31 -06:00
parent c29ce160a7
commit fb977cba3f
1 changed files with 44 additions and 77 deletions
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121
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -17,15 +17,14 @@ public class PhoenixTeleOPState extends CyberarmState {
private final PhoenixBot1 robot;
private double drivePower = 1;
private long lastStepTime = 0;
private int CyclingArmUpAndDown = 0;
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 servoLowLow = 0.5; //Low servos, X button
private double servoLowHigh = 0.75; //High servos, X button
private double servoMedLow = 0.45; //Low servos, B button
private double servoMedLow = 0.5; //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
@@ -64,7 +63,6 @@ public class PhoenixTeleOPState extends CyberarmState {
engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Odometer Encoder, Right", robot.OdometerEncoder.getCurrentPosition());
engine.telemetry.addData("Odometer Encoder, Left", robot.OdometerEncoderLeft.getCurrentPosition());
// engine.telemetry.addData("OCD", OCD);
}
@Override
@@ -309,10 +307,10 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (engine.gamepad2.right_bumper) {
OCD = 0;
if (robot.HighRiserLeft.getPosition() < 1.0 - Math.abs(topServoOffset)) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
@@ -320,8 +318,9 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (engine.gamepad2.left_bumper) {
OCD = 0;
if (robot.HighRiserLeft.getPosition() > 0.45) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
lastStepTime = System.currentTimeMillis();
OCD = 0;
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
@@ -330,45 +329,6 @@ public class PhoenixTeleOPState extends CyberarmState {
}
}
if (engine.gamepad2.y) {
if (robot.HighRiserLeft.getPosition() < 0.85) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
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);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
}//end of y
if (engine.gamepad2.a) {
if (robot.HighRiserLeft.getPosition() > 0.45 && robot.LowRiserLeft.getPosition() < 0.5) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
}
if (robot.LowRiserLeft.getPosition() > 0.45) {
if (System.currentTimeMillis() - lastStepTime >= 150) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
}
}//end of a
//i feel like removing that was a stupidly impulsive move but i gave up on not being stupidly
// impulsive a long time ago lol. Besides, when have we even used that function? It got replaced.
if (engine.gamepad2.a) {
OCD = 1;
}
@@ -386,15 +346,15 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (OCD == 1) { //Ground junction/Collect
if (robot.LowRiserLeft.getPosition() >= servoCollectLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (robot.LowRiserLeft.getPosition() >= servoCollectLow + 0.01)/* <-- low level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - 0.05);
}
} else if (robot.LowRiserLeft.getPosition() <= servoCollectLow &&
robot.HighRiserLeft.getPosition() > servoCollectHigh) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
robot.HighRiserLeft.getPosition() > servoCollectHigh)/* <-- high level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
@@ -406,37 +366,37 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (OCD == 2) { //low junction
if (robot.LowRiserLeft.getPosition() > servoLowLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (robot.LowRiserLeft.getPosition() > servoLowLow + 0.01)/* <-- low level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
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() <= 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() < servoLowLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
}
if (robot.LowRiserLeft.getPosition() < servoLowLow - 0.01)/* <-- low level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
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() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoLowHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
robot.LowRiserLeft.getPosition() > servoLowLow - 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh)/* <-- high level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
}
}
if (robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoLowHigh - 0.01)/* <-- high level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
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() > servoLowLow - 0.01 &&
robot.LowRiserLeft.getPosition() <= servoLowLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoLowHigh - 0.01 &&
@@ -446,16 +406,23 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (OCD == 3) { // Medium junction
if (robot.LowRiserLeft.getPosition() > servoMedLow + 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (robot.LowRiserLeft.getPosition() > servoMedLow + 0.01)/* <-- low level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
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() < servoMedLow - 0.01)/* <-- low level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);
}
}
if (robot.LowRiserLeft.getPosition() <= servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() > servoMedHigh + 0.01)/* <-- high level too high*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - 0.05);
@@ -463,7 +430,7 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (robot.LowRiserLeft.getPosition() < servoMedLow + 0.01 &&
robot.HighRiserLeft.getPosition() < servoMedHigh - 0.01)/* <-- high level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
@@ -478,15 +445,15 @@ public class PhoenixTeleOPState extends CyberarmState {
}
if (OCD == 4) { // High Junction
if (robot.HighRiserLeft.getPosition() < servoHighHigh - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (robot.HighRiserLeft.getPosition() < servoHighHigh - 0.01)/* <-- high level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() + 0.05);
robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() + 0.05);
}
}
if (robot.LowRiserLeft.getPosition() < servoHighLow - 0.01) {
if (System.currentTimeMillis() - lastStepTime >= 120) {
if (robot.LowRiserLeft.getPosition() < servoHighLow - 0.01)/* <-- low level too low*/ {
if (System.currentTimeMillis() - lastStepTime >= 100) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() + 0.05);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() + 0.05);