SCDS/FTCRoadRunnerRobotics
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Commit "working" code?

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This commit is contained in:
carlos
2024-11-05 17:20:43 -08:00
parent 83da8e0de0
commit 2c1f0d6c57
3 changed files with 21 additions and 10 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -113,6 +113,14 @@ public class DevTeleop extends OpMode {
wrist.bucketWrist();
}
}
public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down){
lift.toFloor();
arm.bucketArm();
wrist.floorWrist();
}
}
@Override
public void loop() {
previousGamepad1.copy(currentGamepad1);
@ -126,6 +134,7 @@ public class DevTeleop extends OpMode {
theLift(arm, wrist);
theLowBucketScore(lift, wrist, arm);
theHighBucketScore(lift, wrist, arm);
theTravel(lift, arm, wrist);
double max;
@ -164,6 +173,7 @@ 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();
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -13,8 +13,8 @@ public class RobotConstants {
public static double wristFloor = 0.625;
public static double wristBucket = 0.215;
public static int liftToFloorPos = 0;
public static int liftToPoolPos = 500;
public static int liftToFloorPos = 20;
public static int liftToFloatPos = 150;
public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3850;
public static double liftPower = .45;

17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
View File

@ -1,9 +1,10 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatPos;
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.liftToPoolPos;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
@ -17,7 +18,7 @@ public class LiftSubsystem {
public RunAction toFloor, toLowBucket, toHighBucket;
public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, POOL
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
}
private LiftState liftState;
@ -36,8 +37,8 @@ public class LiftSubsystem {
public void switchState() {
if (this.liftState == LiftState.FLOOR) {
this.toPool();
} else if (this.liftState == LiftState.POOL) {
this.toFloor();
} else if (this.liftState == LiftState.FLOAT) {
this.toLowBucket();
} else if (this.liftState == LiftState.LOW_BUCKET) {
this.toHighBucket();
@ -47,13 +48,13 @@ public class LiftSubsystem {
}
public void toFloor() {
this.setTarget(liftToPoolPos);
this.setTarget(liftToFloorPos);
this.setState(LiftState.FLOOR);
}
public void toPool() {
this.setTarget(liftToPoolPos);
this.setState(LiftState.POOL);
public void toFloat() {
this.setTarget(liftToFloatPos);
this.setState(LiftState.FLOAT);
}
public void toLowBucket() {