TimeCrafters/FreightFrenzy
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Code Issues Projects Releases Wiki Activity

both arms now have limits instead of just gamepad 2

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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
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18
TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
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@@ -26,6 +26,8 @@ public class TeleOpState extends CyberarmState {
// FIXME: Fix unable to retract if reset mid-match // FIXME: Fix unable to retract if reset mid-match
robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_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 @Override
@@ -48,11 +50,17 @@ public class TeleOpState extends CyberarmState {
else { else {
robot.orangeDispenser.setPosition(0); robot.orangeDispenser.setPosition(0);
} }
// if one of triggers pressed arm extends or unextends // if one of triggers pressed arm extends or unextends, there is also a limit on how far arm can extend
robot.orangeArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed); 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 // if either of these buttons... move the servo
@@ -117,7 +125,7 @@ public class TeleOpState extends CyberarmState {
// GamePad 2 // 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) { if (robot.whiteArmBobbin.getCurrentPosition() <= maxArmTravelDistance && engine.gamepad2.left_trigger > 0) {
robot.whiteArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed); robot.whiteArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);