Working wrist, for the most part

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/WristTest.java

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+/* Copyright (c) 2021 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode.cometbots.tests;
+
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
+
+@TeleOp(name = "Wrist Test v2", group = "Debug")
+public class WristTest extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private final ElapsedTime runtime = new ElapsedTime();
+
+    @Override
+    public void runOpMode() {
+
+        /*
+         * Instantiate Wrist
+         */
+        WristSubsystem wrist = new WristSubsystem(hardwareMap);
+
+        /*
+         * Instantiate gamepad state holders
+         */
+        Gamepad currentGamepad1 = new Gamepad();
+        Gamepad previousGamepad1 = new Gamepad();
+
+        wrist.init();
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+
+            previousGamepad1.copy(currentGamepad1);
+            currentGamepad1.copy(gamepad1);
+
+            if (currentGamepad1.square && !previousGamepad1.square) {
+                wrist.toBucketPosition();
+            }
+
+            if (currentGamepad1.cross && !previousGamepad1.cross) {
+                wrist.switchState();
+            }
+
+            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
+                wrist.setPosition(wrist.getPosition() - .05);
+            }
+
+            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
+                wrist.setPosition(wrist.getPosition() + .05);
+            }
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Wrist State", wrist.getState());
+            telemetry.addData("Wrist Position", wrist.getPosition());
+            telemetry.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java

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+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_SERVO;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristPickup;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristSpeciemen;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.ServoImplEx;
+
+public class WristSubsystem {
+
+    public enum WristState {
+        FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN
+    }
+
+    public ServoImplEx wrist;
+    public WristState state;
+
+    public WristSubsystem(HardwareMap hardwareMap) {
+        this.wrist = hardwareMap.get(ServoImplEx.class, WRIST_SERVO);
+    }
+
+    public class MoveToPosition implements Action {
+        private double positionValue;
+        private WristState positionState;
+
+        public MoveToPosition(double positionValue, WristState positionState) {
+            this.positionValue = positionValue;
+            this.positionState = positionState;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            setState(positionState);
+            wrist.setPosition(positionValue);
+            telemetryPacket.put("Wrist State", positionState);
+            return false;
+        }
+    }
+
+    public void toFloorPosition() {
+        setState(WristState.FLOOR);
+        wrist.setPosition(wristFloor);
+    }
+
+    public void toBucketPosition() {
+        setState(WristState.BUCKET);
+        wrist.setPosition(wristBucket);
+    }
+
+    public void toPickupPosition() {
+        setState(WristState.PICKUP);
+        wrist.setPosition(wristPickup);
+    }
+
+    public void setState(WristState wristState) {
+        this.state = wristState;
+    }
+
+    public void switchState() {
+        if (state == WristState.FLOOR) {
+            toPickupPosition();
+        } else if (state == WristState.PICKUP) {
+            toFloorPosition();
+        }
+    }
+
+    public WristState getState() {
+        return this.state;
+    }
+
+    public void init() {
+        wrist.resetDeviceConfigurationForOpMode();
+        toPickupPosition();
+    }
+
+    public void setPosition(double position) {
+        wrist.setPosition(position);
+    }
+
+    public double getPosition() {
+        return wrist.getPosition();
+    }
+
+}