TimeCrafters/UltimateGoal
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Updated to Ultimate Goal

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This commit is contained in:
Nathaniel Palme
2020-09-24 20:56:48 -05:00
parent 334b083ee4
commit 70f315a35a
2 changed files with 27 additions and 25 deletions
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46
TeamCode/src/main/java/org/timecrafters/UltimateGoal/HardwareTesting/EncoderTest.java
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@@ -20,36 +20,37 @@ public class EncoderTest extends CyberarmState {
public void exec() {
robot.updateLocation();
if (runTime() < 3000) {
robot.setDrivePower(0.5, 0.5);
robot.setDrivePower(-0.2 * engine.gamepad1.left_stick_y, -0.2 * engine.gamepad1.right_stick_y);
ticksLeft=robot.encoderLeft.getCurrentPosition();
ticksRight=robot.encoderRight.getCurrentPosition();
ticksLeft=robot.encoderLeft.getCurrentPosition();
ticksRight=robot.encoderRight.getCurrentPosition();
} else {
robot.encoderLeft.setPower(0.0);
robot.encoderRight.setPower(0.0);
double ticksExtreme;
if (Math.abs(ticksLeft) < Math.abs(ticksRight)) {
ticksExtreme = ticksLeft;
} else {
ticksExtreme = ticksRight;
}
biasLeft = ticksExtreme/ticksLeft;
biasRight = ticksExtreme/ticksRight;
}
// if (runTime() < 3000) {
//
//
//
//
// } else {
// robot.encoderLeft.setPower(0.0);
// robot.encoderRight.setPower(0.0);
//
// double ticksExtreme;
// if (Math.abs(ticksLeft) < Math.abs(ticksRight)) {
// ticksExtreme = ticksLeft;
// } else {
// ticksExtreme = ticksRight;
// }
// biasLeft = ticksExtreme/ticksLeft;
// biasRight = ticksExtreme/ticksRight;
// }
}
@Override
public void telemetry() {
engine.telemetry.addLine("Biases");
engine.telemetry.addData("Left", biasLeft);
engine.telemetry.addData("Right", biasRight);
engine.telemetry.addLine();
engine.telemetry.addData("controler", engine.gamepad1.left_stick_y);
engine.telemetry.addLine("Latency Values");
engine.telemetry.addData("Y", robot.getLocationY());
engine.telemetry.addData("X", robot.getLocationX());
@@ -59,6 +60,7 @@ public class EncoderTest extends CyberarmState {
engine.telemetry.addLine("Actual Values");
engine.telemetry.addData("Left", ticksLeft);
engine.telemetry.addData("Right", ticksRight);
// engine.telemetry.addLine("");
// engine.telemetry.addData("Front", robot.encoderFront);
// engine.telemetry.addData("Back", robot.encoderBack);

6
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
View File

@@ -26,7 +26,7 @@ public class Robot {
public DcMotor encoderRight;
double BIAS_LEFT = 1.0;
double BIAS_RIGHT = 0.6815;
double BIAS_RIGHT = 0.87;
//Robot Localizatoin
private double locationX;
@@ -81,8 +81,8 @@ public class Robot {
double average = (encoderLeftChange+encoderRightChange)/2;
double xChange = average * (Math.sin(Math.toRadians(rotationChange)));
double yChange = average * (Math.cos(Math.toRadians(rotationChange)));
double xChange = average * (Math.sin(Math.toRadians(rotation)));
double yChange = average * (Math.cos(Math.toRadians(rotation)));
locationX += xChange;
locationY += yChange;