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A test of simpler code #46

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A test of simpler code #46

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a48a684
Fixed it (hopefully)
maxspier Mar 31, 2023
0464d42
w fixed it ez
maxspier Apr 1, 2023
4e6ef62
Fixed code and made it much simpler.
maxspier Apr 1, 2023
aaef870
Update arms.java deadzone
maxspier Apr 1, 2023
7719ace
updated per ryans pr comment
maxspier Apr 1, 2023
04d9c3a
Fixed oi a bit (not really) but added enums and run() for Arms
maxspier Apr 1, 2023
9c132af
Update arms.java with correct deadzone and new pid constants
maxspier Apr 1, 2023
0df9754
Added new code for enum run()
maxspier Apr 1, 2023
0c9e29e
Added only 1 arm at a time control.
maxspier Apr 1, 2023
c4e51d3
uiewj
maxspier Apr 1, 2023
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94 changes: 18 additions & 76 deletions src/main/java/com/team766/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -27,35 +27,12 @@ public class OI extends Procedure {
private JoystickReader joystick1;
private JoystickReader joystick2;


enum generalControl{
CONE_HIGH_NODE,
CUBE_HIGH_NODE,
CONE_MID_NODE,
CUBE_MID_NODE,
OFF,
READY,
HUMANPLAYER_PICKUP,
MANUAL,
HYBRID_NODE
};



public generalControl generalState = generalControl.OFF;





public OI() {
loggerCategory = Category.OPERATOR_INTERFACE;

joystick0 = RobotProvider.instance.getJoystick(0);
joystick1 = RobotProvider.instance.getJoystick(1);
joystick2 = RobotProvider.instance.getJoystick(2);


}

public void run(Context context) {
Expand All @@ -69,84 +46,49 @@ public void run(Context context) {
if(joystick0.getButton(1)){
Robot.arms.resetEncoders();
}

if(joystick0.getButton(2)){
Robot.arms.antiGravBothJoints();
}

if(joystick0.getButton(3)){
//HIGH NODE SCORING
Robot.arms.pidForArmOne(-38.34);
Robot.arms.pidForArmTwo(-90.665);
Robot.arms.checkJointTwo(-90.665);
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@jamesi8086 jamesi8086 Apr 1, 2023

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this call should've been in the pidForArmX

}
if(joystick0.getButtonPressed(4)){
//MID NODE SCORING
Robot.arms.pidForArmOne(null);
Robot.arms.pidForArmTwo(null);
Robot.arms.pidForArmTwo(-90);
Robot.arms.checkJointTwo(-90);
}

if(joystick0.getButton(5)){
//TAKING FROM HUMAN PLAYER
Robot.arms.pidForArmOne(null);
Robot.arms.pidForArmTwo(null);
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
Robot.arms.checkJointTwo(0);
}

if(joystick0.getButton(6)){
//STOWED
Robot.arms.pidForArmOne(null);
Robot.arms.pidForArmTwo(null);
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
Robot.arms.checkJointTwo(0);
}
if(joystick0.getButton(7)){
//READY
Robot.arms.pidForArmOne(null);
Robot.arms.pidForArmTwo(null);
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
Robot.arms.checkJointTwo(0);
}
if(joystick0.getButton(8)){
//PREP
Robot.arms.pidForArmOne(null);
Robot.arms.pidForArmTwo(null);
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
Robot.arms.checkJointTwo(0);
}

Robot.arms.run();

//TODO: can we stil use a switch?
/*
switch(generalState){
case OFF:
log("generalControl is off");
break;
case CONE_HIGH_NODE:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case CUBE_HIGH_NODE:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case CONE_MID_NODE:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case CUBE_MID_NODE:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case MANUAL:
Robot.arms.manuallySetArmOnePower(joystick0.getAxis(0));
Robot.arms.manuallySetArmTwoPower(joystick0.getAxis(1));
break;
case READY:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case HUMANPLAYER_PICKUP:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
case HYBRID_NODE:
Robot.arms.pidForArmOne(0);
Robot.arms.pidForArmTwo(0);
break;
}
*/

}
}
}
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