SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Commit Hang Subsystem

Browse Source
This commit is contained in:
robotics3
2025-01-23 10:52:56 -08:00
parent 71b91fa3ff
commit 52e21fd468
4 changed files with 85 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
View File

@ -114,12 +114,9 @@ public class CometBotAutoDevelopment {
}
}
private void armAndWristToFloor(){
if(currentGamepad2.a && !previousGamepad2.a){
wrist.switchState();
}
if(currentGamepad2.a && !previousGamepad2.a){
double increment = 0.5 - arm.getPosition();
double increment = 0.7 - arm.getPosition();
for(int i = 0; i < 3; i ++){
arm.setPosition(arm.getPosition() + increment);
try {
@ -129,9 +126,11 @@ public class CometBotAutoDevelopment {
}
}
arm.toFloorPosition();
}
if(currentGamepad2.a && !previousGamepad2.a ){
wrist.switchState();
}
}
@ -154,6 +153,16 @@ public class CometBotAutoDevelopment {
dualSlides.toHighBucketPosition();
}
}
private void robotUp(){
if(currentGamepad1.dpad_up && !previousGamepad1.dpad_up){
}
}
private void robotDown(){
if(currentGamepad1.dpad_down && !previousGamepad1.dpad_down){
}
}
private void dualSlidesToFloorPosition() {
if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
dualSlides.toFloorPosition();

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

@ -30,7 +30,8 @@ public class RobotConstants {
public final static double wristSpeciemen = 0.1;
public final static int toBar = 500;
public final static int toFloor = 0;
public final static int liftToFloorPos = 350;
public final static int liftToSubmarinePos = 350;
public final static int liftToLowBucketPos = 1750;

59
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HangMotorSubsystem.java Normal file
View File

@ -0,0 +1,59 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_LEFT_MOTOR;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_RIGHT_MOTOR;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toBar;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toFloor;
public class HangMotorSubsystem {
private DcMotorEx hang;
public HangMotorSubsystem(HardwareMap hardwareMap) {
hang = hardwareMap.get(DcMotorEx.class, "skyhook");
}
public int getCurrentPosition(){
int Return = hang.getCurrentPosition();
return Return;
}
public void init(){
hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
hang.setDirection(DcMotorSimple.Direction.FORWARD);
hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
hang.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
public void hangRobot(){
hang.setTargetPosition(toBar);
}
public void robotToFloor(){
hang.setTargetPosition(toFloor);
}
public void disableMotor(){
hang.setPower(0);
hang.setMotorDisable();
}
public void setPower(double power){
hang.setPower(power);
}
public void stopMotor(){
hang.setPower(0);
}
public void toHangPosition(int Position){
//write in limits for protection
hang.setPower(Position);
}
}

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftArmWrist.java
View File

@ -58,6 +58,7 @@ public class LiftArmWrist extends LinearOpMode {
WristSubsystem wrist = new WristSubsystem(hardwareMap);
ArmSubsystem arm = new ArmSubsystem(hardwareMap);
ClawSubsystem claw = new ClawSubsystem(hardwareMap);
HangMotorSubsystem hang = new HangMotorSubsystem(hardwareMap);
/*
@ -117,15 +118,23 @@ public class LiftArmWrist extends LinearOpMode {
lift.toLowBucketPosition();
}
if(currentGamepad1.left_trigger > 0){
hang.setPower((double) currentGamepad1.left_trigger);
}
if(currentGamepad1.right_trigger > 0){
hang.setPower((double) currentGamepad1.right_trigger);
}
lift.update();
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Lift Drive Position", lift.getFixedPosition());
telemetry.addData("Wrist Position", wrist.getPosition());
telemetry.addData("Arm Position", arm.getPosition());
telemetry.addData("Slide Ticks", lift.getCurrentPosition());
telemetry.addData("Hook Ticks", hang.getCurrentPosition());
telemetry.update();
}
}