TimeCrafters/UltimateGoal
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Stuff for localization accuracy experiment.

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This commit is contained in:
Nathaniel Palme
2020-10-13 20:16:06 -05:00
parent d9261dc32d
commit 32d65ce7c3
3 changed files with 45 additions and 3 deletions
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2
TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUDrive.java
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@@ -32,7 +32,7 @@ public class IMUDrive extends CyberarmState {
double inchesTarget = robot.stateConfiguration.variable(groupName, actionName, "inches").value(); double inchesTarget = robot.stateConfiguration.variable(groupName, actionName, "inches").value();
tickTarget = (int) robot.inchesToTicks(inchesTarget); tickTarget = (int) robot.inchesToTicks(inchesTarget);
angleTarget = robot.stateConfiguration.variable(groupName, actionName, "angle").value(); angleTarget = robot.stateConfiguration.variable(groupName, actionName, "angle").value();
finishDelay = robot.stateConfiguration.variable(groupName,actionName,"delay").value(); finishDelay = robot.stateConfiguration.variable(groupName, actionName, "delay").value();
} }
@Override @Override

8
TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/IMUTurn.java
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@@ -25,8 +25,12 @@ public class IMUTurn extends CyberarmState {
power = robot.stateConfiguration.variable(groupName,actionName, "power").value(); power = robot.stateConfiguration.variable(groupName,actionName, "power").value();
angleTarget = robot.stateConfiguration.variable(groupName,actionName, "angle").value(); angleTarget = robot.stateConfiguration.variable(groupName,actionName, "angle").value();
angleAllowance = robot.stateConfiguration.variable(groupName,actionName, "allowance").value(); angleAllowance = robot.stateConfiguration.variable(groupName,actionName, "allowance").value();
turnDirection = robot.stateConfiguration.variable(groupName, actionName, "direction").value();
useOptimalDirection = (turnDirection==0); // turnDirection = robot.stateConfiguration.variable(groupName, actionName, "direction").value();
turnDirection = 0;
useOptimalDirection = (turnDirection == 0);
} }
@Override @Override

38
TeamCode/src/main/java/org/timecrafters/UltimateGoal/LocalizerTesting/LocalizerTestingEngine.java
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@@ -23,5 +23,43 @@ public class LocalizerTestingEngine extends CyberarmEngine {
addState(new IMUTurn(robot,"group", "020_turn")); addState(new IMUTurn(robot,"group", "020_turn"));
addState(new IMUDrive(robot,"group", "030_drive")); addState(new IMUDrive(robot,"group", "030_drive"));
addState(new IMUTurn(robot,"group", "040_turn")); addState(new IMUTurn(robot,"group", "040_turn"));
addState(new IMUDrive(robot,"group", "050_drive"));
addState(new IMUTurn(robot,"group", "060_turn"));
addState(new IMUDrive(robot,"group", "070_drive"));
addState(new IMUTurn(robot,"group", "080_turn"));
addState(new IMUDrive(robot,"group", "010_drive"));
addState(new IMUTurn(robot,"group", "020_turn"));
addState(new IMUDrive(robot,"group", "030_drive"));
addState(new IMUTurn(robot,"group", "040_turn"));
addState(new IMUDrive(robot,"group", "050_drive"));
addState(new IMUTurn(robot,"group", "060_turn"));
addState(new IMUDrive(robot,"group", "070_drive"));
addState(new IMUTurn(robot,"group", "080_turn"));
addState(new IMUDrive(robot,"group", "010_drive"));
addState(new IMUTurn(robot,"group", "020_turn"));
addState(new IMUDrive(robot,"group", "030_drive"));
addState(new IMUTurn(robot,"group", "040_turn"));
addState(new IMUDrive(robot,"group", "050_drive"));
addState(new IMUTurn(robot,"group", "060_turn"));
addState(new IMUDrive(robot,"group", "070_drive"));
addState(new IMUTurn(robot,"group", "080_turn"));
addState(new IMUDrive(robot,"group", "010_drive"));
addState(new IMUTurn(robot,"group", "020_turn"));
addState(new IMUDrive(robot,"group", "030_drive"));
addState(new IMUTurn(robot,"group", "040_turn"));
addState(new IMUDrive(robot,"group", "050_drive"));
addState(new IMUTurn(robot,"group", "060_turn"));
addState(new IMUDrive(robot,"group", "090_drive"));
addState(new IMUTurn(robot,"group", "080_turn"));
} }
} }