SCDS/FTCRoadRunnerRobotics
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Re-integrate LSS and updated constants

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This commit is contained in:
Carlos Rivas
2024-11-03 14:17:04 -08:00
parent 0f42160c4f
commit 4351eb9720
3 changed files with 27 additions and 18 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LiftTest.java
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@ -76,7 +76,7 @@ public class LiftTest extends LinearOpMode {
currentGamepad1.copy(gamepad1); currentGamepad1.copy(gamepad1);
if (currentGamepad1.square && !previousGamepad1.square) { if (currentGamepad1.square && !previousGamepad1.square) {
lift.toZero(); lift.toFloor();
} }
if (currentGamepad1.triangle && !previousGamepad1.triangle) { if (currentGamepad1.triangle && !previousGamepad1.triangle) {

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -13,7 +13,8 @@ public class RobotConstants {
public static double wristFloor = 0.625; public static double wristFloor = 0.625;
public static double wristBucket = 0.215; public static double wristBucket = 0.215;
public static int liftZeroPos = 0; public static int liftToFloorPos = 0;
public static int liftToPoolPos = 500;
public static int liftToLowBucketPos = 2250; public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3700; public static int liftToHighBucketPos = 3700;
public static double liftPower = .45; public static double liftPower = .45;

38
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
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@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos; 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.liftToLowBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftZeroPos; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToPoolPos;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@ -14,16 +14,17 @@ import org.firstinspires.ftc.teamcode.util.action.RunAction;
public class LiftSubsystem { public class LiftSubsystem {
public DcMotor lift; public DcMotor lift;
public RunAction toZero, toLowBucket, toHighBucket; public RunAction toFloor, toLowBucket, toHighBucket;
public enum LiftState { public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET FLOOR, LOW_BUCKET, HIGH_BUCKET, POOL
} }
private LiftState liftState; private LiftState liftState;
public LiftSubsystem(HardwareMap hardwareMap) { public LiftSubsystem(HardwareMap hardwareMap) {
lift = hardwareMap.get(DcMotor.class, "lift-motor"); lift = hardwareMap.get(DcMotor.class, "lift-motor");
toFloor = new RunAction(this::toFloor);
toZero = new RunAction(this::toZero);
toLowBucket = new RunAction(this::toLowBucket); toLowBucket = new RunAction(this::toLowBucket);
toHighBucket = new RunAction(this::toHighBucket); toHighBucket = new RunAction(this::toHighBucket);
} }
@ -33,29 +34,36 @@ public class LiftSubsystem {
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION); lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
} }
public void toZero() {
lift.setTargetPosition(liftZeroPos);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void switchState() { public void switchState() {
if (this.liftState == LiftState.FLOOR) { if (this.liftState == LiftState.FLOOR) {
this.toPool();
} else if (this.liftState == LiftState.POOL) {
this.toLowBucket(); this.toLowBucket();
} else if (this.liftState == LiftState.LOW_BUCKET) { } else if (this.liftState == LiftState.LOW_BUCKET) {
this.toHighBucket(); this.toHighBucket();
} else if (this.liftState == LiftState.HIGH_BUCKET) { } else if (this.liftState == LiftState.HIGH_BUCKET) {
this.toZero(); this.toFloor();
} }
} }
public void toFloor() {
this.setTarget(liftToPoolPos);
this.setState(LiftState.FLOOR);
}
public void toPool() {
this.setTarget(liftToPoolPos);
this.setState(LiftState.POOL);
}
public void toLowBucket() { public void toLowBucket() {
lift.setTargetPosition(liftToLowBucketPos); this.setTarget(liftToLowBucketPos);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION); this.setState(LiftState.LOW_BUCKET);
} }
public void toHighBucket() { public void toHighBucket() {
lift.setTargetPosition(liftToHighBucketPos); this.setTarget(liftToHighBucketPos);
lift.setMode(DcMotor.RunMode.RUN_TO_POSITION); this.setState(LiftState.HIGH_BUCKET);
} }
public void init() { public void init() {