SCDS/FTCRoadRunnerRobotics
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Working Pre loaded auto! Can score 11 points consistently!

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robotics1
2024-11-19 15:40:16 -08:00
parent 283979afee
commit 05e284b59f
3 changed files with 6 additions and 1 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
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@ -13,6 +13,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition") @Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
public class PreLoadedBlueBasketAuto extends OpMode { public class PreLoadedBlueBasketAuto extends OpMode {
private Telemetry telemetryA; private Telemetry telemetryA;
@ -118,5 +119,6 @@ public class PreLoadedBlueBasketAuto extends OpMode {
public void loop() { public void loop() {
follower.update(); follower.update();
follower.telemetryDebug(telemetryA); follower.telemetryDebug(telemetryA);
} }
} }

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -19,6 +19,8 @@ public class RobotConstants {
public final static int liftToFloorPos = 350; public final static int liftToFloorPos = 350;
public final static int liftToSubmarinePos = 350; public final static int liftToSubmarinePos = 350;
public final static int liftToLowBucketPos = 2250; public final static int liftToLowBucketPos = 2250;
public final static int liftToHighRung = 2250;
public final static int liftToHighBucketPos = 3850; public final static int liftToHighBucketPos = 3850;
public final static double liftPower = .625; public final static double liftPower = .625;
} }

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
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@ -21,7 +21,7 @@ public class LiftActionsSubsystem {
public DcMotor lift; public DcMotor lift;
public enum LiftState { public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE,
} }
private LiftState liftState; private LiftState liftState;
@ -58,6 +58,7 @@ public class LiftActionsSubsystem {
public Action toLowBucketPosition() { public Action toLowBucketPosition() {
return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET); return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
} }
public Action toHighBucketPosition() { public Action toHighBucketPosition() {