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base: TimeCrafters:6d64acd3188426b11df53bc8e6a02a21f7be43db
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compare: TimeCrafters:9855c1e0ca5137986e9e7230601a8dcae4376798
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TimeCrafters:master

3 Commits
6d64acd318 ... 9855c1e0ca

Author SHA1 Message Date
SpencerPiha
9855c1e0ca Merge remote-tracking branch 'origin/master' 2023-01-29 12:10:19 -06:00
SpencerPiha
ccff415523 Added Horizontal Encoder, Renamed "OdometerEncoder" to "OdometerEncoderRight" and made sure there weren't any issues when building (everything is good) 2023-01-29 12:10:04 -06:00
cyberarm
2bda351949 Theoretical maths fix for Move state ease out velocity 2023-01-29 12:03:29 -06:00
5 changed files with 18 additions and 9 deletions
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4
TeamCode/src/main/java/org/timecrafters/Autonomous/States/CollectorDistanceState.java
View File

@@ -77,7 +77,7 @@ public class CollectorDistanceState extends CyberarmState {
robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderHorizonatal.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.OdometerEncoderHorizontal.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
@@ -85,7 +85,7 @@ public class CollectorDistanceState extends CyberarmState {
robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoderRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoderHorizonatal.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.OdometerEncoderHorizontal.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.collectorLeft.setPower(1);

2
TeamCode/src/main/java/org/timecrafters/Autonomous/States/TopArm.java
View File

@@ -27,7 +27,7 @@ public class TopArm extends CyberarmState {
@Override
public void start() {
up = robot.HighRiseMotor.getCurrentPosition() < UpperRiserLeftPos;
up = robot.ArmMotor.getCurrentPosition() < UpperRiserLeftPos;
}
@Override

18
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
View File

@@ -46,7 +46,7 @@ public class PhoenixBot1 {
public Rev2mDistanceSensor collectorDistance, /*downSensor, */leftPoleDistance, rightPoleDistance;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, OdometerEncoder, OdometerEncoderLeft, ArmMotor, armMotorEncoder;
public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, OdometerEncoderRight, OdometerEncoderLeft, OdometerEncoderHorizontal, ArmMotor, armMotorEncoder;
public CRServo collectorLeft, collectorRight;
@@ -174,11 +174,11 @@ public class PhoenixBot1 {
// Dead Wheel encoder for driving
OdometerEncoder = engine.hardwareMap.dcMotor.get("odometerEncoderR");
OdometerEncoderRight = engine.hardwareMap.dcMotor.get("odometerEncoderR");
OdometerEncoder.setDirection(DcMotorSimple.Direction.REVERSE);
OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
OdometerEncoder.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
OdometerEncoderRight.setDirection(DcMotorSimple.Direction.REVERSE);
OdometerEncoderRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
OdometerEncoderRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
OdometerEncoderLeft = engine.hardwareMap.dcMotor.get("odometerEncoderL");
@@ -186,6 +186,14 @@ public class PhoenixBot1 {
OdometerEncoderLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
OdometerEncoderLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
OdometerEncoderHorizontal = engine.hardwareMap.dcMotor.get("odometerEncoderH");
OdometerEncoderHorizontal.setDirection(DcMotorSimple.Direction.REVERSE);
OdometerEncoderHorizontal.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
OdometerEncoderHorizontal.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
// HighRiserLeft.setDirection(Servo.Direction.REVERSE);
// HighRiserRight.setDirection(Servo.Direction.FORWARD);

1
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
View File

@@ -61,6 +61,7 @@ public class PhoenixTeleOPState extends CyberarmState {
engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Odometer Encoder, Right", robot.OdometerEncoderRight.getCurrentPosition());
engine.telemetry.addData("Odometer Encoder, Left", robot.OdometerEncoderLeft.getCurrentPosition());
engine.telemetry.addData("Odometer Encoder, Horizontal", robot.OdometerEncoderHorizontal.getCurrentPosition());
}
@Override

2
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
View File

@@ -79,7 +79,7 @@ public class Move extends CyberarmState {
if (Math.abs(travelledDistance) < easeInDistance) {
ratio = travelledDistance / easeInDistance;
} else if (Math.abs(travelledDistance) > targetDistance - easeOutDistance) {
ratio = 1.0 - ((targetDistance - Math.abs(travelledDistance)) / easeOutDistance);
ratio = (targetDistance - Math.abs(travelledDistance)) / easeOutDistance;
}
easeVelocity = targetVelocity * ratio;