TimeCrafters/FreightFrenzy
1
0
Fork 0
mirror of https://github.com/TimeCrafters/FreightFrenzy.git synced 2025-12-13 05:02:34 +00:00
Code Issues Projects Releases Wiki Activity

both arms now have limits instead of just gamepad 2

Browse Source
This commit is contained in:
Spencer
2021-11-24 17:18:17 -06:00
parent 1b5d27fdd8
commit c4bd4acf2b
1 changed files with 13 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
View File

@@ -26,6 +26,8 @@ public class TeleOpState extends CyberarmState {
// FIXME: Fix unable to retract if reset mid-match
robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
robot.orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.orangeArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
}
@Override
@@ -48,11 +50,17 @@ public class TeleOpState extends CyberarmState {
else {
robot.orangeDispenser.setPosition(0);
}
// if one of triggers pressed arm extends or unextends
robot.orangeArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed);
// if one of triggers pressed arm extends or unextends, there is also a limit on how far arm can extend
if (robot.orangeArmBobbin.getCurrentPosition() <= maxArmTravelDistance && engine.gamepad1.left_trigger > 0) {
robot.orangeArmBobbin.setPower(engine.gamepad1.left_trigger * maxDepositorArmSpeed);
} else {
if (engine.gamepad1.left_trigger <= 0 && robot.orangeArmBobbin.getCurrentPosition() >= 0) {
robot.orangeArmBobbin.setPower(-engine.gamepad1.right_trigger * maxDepositorArmSpeed);
} else {
robot.orangeArmBobbin.setPower(0);
}
if (engine.gamepad1.left_trigger <= 0){
robot.orangeArmBobbin.setPower(-engine.gamepad1.right_trigger * maxCollectorArmSpeed);
}
// if either of these buttons... move the servo
@@ -117,7 +125,7 @@ public class TeleOpState extends CyberarmState {
// GamePad 2
// if triggers are pressed then arm extends or unextends
// if triggers are pressed then arm extends or unextends, there is also a limit on how far arm can extend
if (robot.whiteArmBobbin.getCurrentPosition() <= maxArmTravelDistance && engine.gamepad2.left_trigger > 0) {
robot.whiteArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);