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() { public void exec() {
robot.updateLocation(); robot.updateLocation();
if (runTime() < 3000) { robot.setDrivePower(-0.2 * engine.gamepad1.left_stick_y, -0.2 * engine.gamepad1.right_stick_y);
robot.setDrivePower(0.5, 0.5);
ticksLeft=robot.encoderLeft.getCurrentPosition(); ticksLeft=robot.encoderLeft.getCurrentPosition();
ticksRight=robot.encoderRight.getCurrentPosition(); ticksRight=robot.encoderRight.getCurrentPosition();
// if (runTime() < 3000) {
} else { //
robot.encoderLeft.setPower(0.0); //
robot.encoderRight.setPower(0.0); //
//
double ticksExtreme; // } else {
if (Math.abs(ticksLeft) < Math.abs(ticksRight)) { // robot.encoderLeft.setPower(0.0);
ticksExtreme = ticksLeft; // robot.encoderRight.setPower(0.0);
} else { //
ticksExtreme = ticksRight; // double ticksExtreme;
} // if (Math.abs(ticksLeft) < Math.abs(ticksRight)) {
biasLeft = ticksExtreme/ticksLeft; // ticksExtreme = ticksLeft;
biasRight = ticksExtreme/ticksRight; // } else {
} // ticksExtreme = ticksRight;
// }
// biasLeft = ticksExtreme/ticksLeft;
// biasRight = ticksExtreme/ticksRight;
// }
} }
@Override @Override
public void telemetry() { public void telemetry() {
engine.telemetry.addLine("Biases");
engine.telemetry.addData("Left", biasLeft); engine.telemetry.addData("controler", engine.gamepad1.left_stick_y);
engine.telemetry.addData("Right", biasRight);
engine.telemetry.addLine();
engine.telemetry.addLine("Latency Values"); engine.telemetry.addLine("Latency Values");
engine.telemetry.addData("Y", robot.getLocationY()); engine.telemetry.addData("Y", robot.getLocationY());
engine.telemetry.addData("X", robot.getLocationX()); engine.telemetry.addData("X", robot.getLocationX());
@@ -59,6 +60,7 @@ public class EncoderTest extends CyberarmState {
engine.telemetry.addLine("Actual Values"); engine.telemetry.addLine("Actual Values");
engine.telemetry.addData("Left", ticksLeft); engine.telemetry.addData("Left", ticksLeft);
engine.telemetry.addData("Right", ticksRight); engine.telemetry.addData("Right", ticksRight);
// engine.telemetry.addLine(""); // engine.telemetry.addLine("");
// engine.telemetry.addData("Front", robot.encoderFront); // engine.telemetry.addData("Front", robot.encoderFront);
// engine.telemetry.addData("Back", robot.encoderBack); // engine.telemetry.addData("Back", robot.encoderBack);

6
TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
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@@ -26,7 +26,7 @@ public class Robot {
public DcMotor encoderRight; public DcMotor encoderRight;
double BIAS_LEFT = 1.0; double BIAS_LEFT = 1.0;
double BIAS_RIGHT = 0.6815; double BIAS_RIGHT = 0.87;
//Robot Localizatoin //Robot Localizatoin
private double locationX; private double locationX;
@@ -81,8 +81,8 @@ public class Robot {
double average = (encoderLeftChange+encoderRightChange)/2; double average = (encoderLeftChange+encoderRightChange)/2;
double xChange = average * (Math.sin(Math.toRadians(rotationChange))); double xChange = average * (Math.sin(Math.toRadians(rotation)));
double yChange = average * (Math.cos(Math.toRadians(rotationChange))); double yChange = average * (Math.cos(Math.toRadians(rotation)));
locationX += xChange; locationX += xChange;
locationY += yChange; locationY += yChange;