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Put arm on P controller

This commit is contained in:
Scott Barnes 2023-11-30 19:54:26 -06:00
parent afc4ae7316
commit b308fcd59a
1 changed files with 16 additions and 7 deletions
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23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
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@ -35,6 +35,8 @@ public class Arm {
dServo.setDirection(Servo.Direction.REVERSE); dServo.setDirection(Servo.Direction.REVERSE);
// wristServo.setDirection(Servo.Direction.REVERSE); // wristServo.setDirection(Servo.Direction.REVERSE);
this.armController = new PController(ARM_KP);
setArmPos(Position.INTAKE); setArmPos(Position.INTAKE);
setWristPos(Position.INTAKE); setWristPos(Position.INTAKE);
} }
@ -48,13 +50,9 @@ public class Arm {
public static double wristScore = 0.98; public static double wristScore = 0.98;
public void setArmPos(Position pos) { public void setArmPos(Position pos) {
if (pos == Position.INTAKE) { this.armControllerTarget = pos == Position.INTAKE
rAServo.setPosition(armStart); ? armStart
lAServo.setPosition(armStart); : armScore;
} else if (pos == Position.SCORE) {
rAServo.setPosition(armScore);
lAServo.setPosition(armScore);
}
} }
public void setWristPos(Position pos) { public void setWristPos(Position pos) {
@ -78,5 +76,16 @@ public class Arm {
} }
public void update() { public void update() {
this.armController.setSetPoint(this.armControllerTarget);
this.armController.setTolerance(0.001);
this.armController.setP(ARM_KP);
double output = 0;
if (!this.armController.atSetPoint()) {
output = Math.max(-1 * armScore, Math.min(armScore, this.armController.calculate(lAServo.getPosition())));
this.lAServo.setPosition(this.lAServo.getPosition() + output);
this.rAServo.setPosition(this.lAServo.getPosition() + output);
}
} }
} }