SCDS/FTCRoadRunnerRobotics
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robotics1
2024-11-12 16:05:10 -08:00
parent 3f8f6a41f0 66a831fa59
commit 2133941dbe
3 changed files with 46 additions and 13 deletions
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48
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
View File

@ -45,7 +45,7 @@ public class DevTeleop extends OpMode {
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
private double MAX_POWER = .55;
private double MAX_POWER = .45;
@Override
public void init() {
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
@ -74,22 +74,24 @@ public class DevTeleop extends OpMode {
}
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.a && !previousGamepad1.a) {
//pick up
if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
wrist.floorWrist();
arm.engageArm();
}
}
public void thePickup(ClawSubsystem claw) {
if (currentGamepad1.x && !previousGamepad1.x) {
//claw open close
if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
claw.switchState();
}
}
public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
/* public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.b && !previousGamepad1.b) {
arm.parkArm();
@ -97,22 +99,44 @@ public class DevTeleop extends OpMode {
}
}
*/
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.y && !previousGamepad2.y) {
//low bucket
if (currentGamepad2.a && !previousGamepad2.a) {
lift.toLowBucket();
arm.bucketArm();
wrist.bucketWrist();
}
}
public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.a && !previousGamepad2.a) {
public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
//high basket
if (currentGamepad2.b && !previousGamepad2.b) {
lift.toHighBucket();
arm.bucketArm();
wrist.bucketWrist();
}
}
public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
//
if (currentGamepad2.dpad_right && !previousGamepad2.dpad_right){
lift.toFloor();
arm.bucketArm();
wrist.floorWrist();
}
}
public void hoverState(ArmSubsystem arm, WristSubsystem wrist, LiftSubsystem lift){
if (currentGamepad1.dpad_left && !previousGamepad2.dpad_left){
lift.toHover();
wrist.floorWrist();
arm.engageArm();
}
}
@Override
public void loop() {
previousGamepad1.copy(currentGamepad1);
@ -123,9 +147,10 @@ public class DevTeleop extends OpMode {
theDrop(arm, wrist);
thePickup(claw);
theLift(arm, wrist);
// theLift(arm, wrist);
theLowBucketScore(lift, wrist, arm);
theHighBucketScore(lift, wrist, arm);
theTravel(lift, arm, wrist);
double max;
@ -164,6 +189,7 @@ public class DevTeleop extends OpMode {
// Show the elapsed game time and wheel power.
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.addData("Current Lift Position", lift.getPosition());
telemetry.update();
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
View File

@ -5,7 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
@Config
public class RobotConstants {
public static double clawClose = 1.00;
public static double clawOpen = 0.25;
public static double clawOpen = 0.05;
public static double armEngage = 0.5;
public static double armPark = 0.125;
@ -18,4 +18,5 @@ public class RobotConstants {
public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3900;
public static double liftPower = .45;
public static int liftToHoverState = 60;
}

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
View File

@ -5,6 +5,7 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatP
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHoverState;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
@ -18,7 +19,7 @@ public class LiftSubsystem {
public RunAction toFloor, toLowBucket, toHighBucket;
public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, HOVER
}
private LiftState liftState;
@ -47,6 +48,11 @@ public class LiftSubsystem {
}
}
public void toHover() {
this.setTarget(liftToHoverState);
this.setState(LiftState.HOVER);
}
public void toFloor() {
this.setTarget(liftToFloorPos);
this.setState(LiftState.FLOOR);