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author | Franklin Wei <me@fwei.tk> | 2018-12-27 22:43:32 -0500 |
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committer | Franklin Wei <me@fwei.tk> | 2018-12-27 22:43:32 -0500 |
commit | 62c67af0b4a4174be32309cfac6072fd06a0db34 (patch) | |
tree | 645b26fe8afece1e5bbdfa2cf88be31b0655b95f | |
parent | bfae972036fbd728f2c5ba27bd24a6a39db317ed (diff) | |
download | ftc-62c67af0b4a4174be32309cfac6072fd06a0db34.zip ftc-62c67af0b4a4174be32309cfac6072fd06a0db34.tar.gz ftc-62c67af0b4a4174be32309cfac6072fd06a0db34.tar.bz2 ftc-62c67af0b4a4174be32309cfac6072fd06a0db34.tar.xz |
-rw-r--r-- | TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotAutonomousv1.java | 5 | ||||
-rwxr-xr-x | TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotDriver.java | 32 |
2 files changed, 27 insertions, 10 deletions
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotAutonomousv1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotAutonomousv1.java index c4b2160..652a9b5 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotAutonomousv1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotAutonomousv1.java @@ -242,8 +242,9 @@ public class TankbotAutonomousv1 extends LinearOpMode { gyroDriveRelative(DRIVE_SPEED, 20, 0); gyroTurnRelative(TURN_SPEED, (45 - 5)); gyroDriveRelative(DRIVE_SPEED, 14, 0); - gyroTurnRelative(TURN_SPEED, 90); - gyroDriveRelative(DRIVE_SPEED, 35, 0); + gyroTurnRelative(TURN_SPEED, -90); + gyroDriveRelative(DRIVE_SPEED, -35, 0); + gyroTurnRelative(TURN_SPEED, 180); break; case 1: /* TODO */ diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotDriver.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotDriver.java index fac3eb4..2f46c72 100755 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotDriver.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankbotDriver.java @@ -145,8 +145,11 @@ public class TankbotDriver extends LinearOpMode { waitForStart(); double fine_speed = .5; + boolean turbo = false; + boolean last_x = false; int liftpos = robot.LiftMotor.getCurrentPosition(); + boolean last_lift = false; // run until the end of the match (driver presses STOP) while (opModeIsActive()) { @@ -159,6 +162,13 @@ public class TankbotDriver extends LinearOpMode { if(Math.abs(rotate) < DEAD_ZONE) rotate = 0; + boolean x = gamepad1.x; + if(x && !last_x) + turbo = !turbo; + last_x = x; + + fine_speed = turbo ? 1 : .5; + if(gamepad1.dpad_up) forward += fine_speed; if(gamepad1.dpad_down) @@ -188,30 +198,35 @@ public class TankbotDriver extends LinearOpMode { if(gamepad1.left_bumper) intake -= .5; - /* 2240 counts/rev */ + /* 1120 counts/rev */ int dlift = 0; boolean no_lift = false; if(gamepad1.a) - dlift += 2240/5; + dlift += 2240/10; else if(gamepad1.y) - dlift -= 2240/5; + dlift -= 2240/10; else no_lift = true; boolean limit_reached = !robot.liftLimit.getState(); - if(limit_reached || no_lift) { - robot.LiftMotor.setTargetPosition(robot.LiftMotor.getCurrentPosition()); + if(limit_reached || (no_lift && last_lift)) { + /* stop movement */ + liftpos = robot.LiftMotor.getCurrentPosition(); } else { liftpos += dlift; - robot.LiftMotor.setTargetPosition(liftpos); } + /* always max power */ + robot.LiftMotor.setPower(1); + robot.LiftMotor.setTargetPosition(liftpos); + + last_lift = !no_lift; + robot.IntakeMotor.setPower(intake); robot.DriveLeft.setPower(powers[0]); robot.DriveRight.setPower(powers[1]); - robot.LiftMotor.setPower(1); // Send telemetry message to signify robot running; telemetry.addData("rotation", "%.2f", rotate); @@ -219,10 +234,11 @@ public class TankbotDriver extends LinearOpMode { telemetry.addData("forward", "%.3f", forward); telemetry.addData("Drive positions", "%d %d", robot.DriveLeft.getCurrentPosition(), robot.DriveRight.getCurrentPosition()); telemetry.addData("heading", getHeading(true)); + telemetry.addData("Turbo mode", "%s", turbo ? "ON!" : "off"); telemetry.update(); // Pace this loop so jaw action is reasonable speed. - sleep(50); + sleep(20); } } } |