SCDS/FTCRoadRunnerRobotics
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Updated arm code. Need to make high basket code goa little higher

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robotics1
2024-11-05 16:04:50 -08:00
parent a2fa3341b1
commit 5c657ab926
1 changed files with 13 additions and 5 deletions
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18
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -44,6 +44,8 @@ public class DevTeleop extends OpMode {
public DcMotor backLeftMotor; public DcMotor backLeftMotor;
public DcMotor frontRightMotor; public DcMotor frontRightMotor;
public DcMotor backRightMotor; public DcMotor backRightMotor;
private double MAX_POWER = .6;
@Override @Override
public void init() { public void init() {
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED); claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
@ -67,7 +69,8 @@ public class DevTeleop extends OpMode {
currentGamepad1 = new Gamepad(); currentGamepad1 = new Gamepad();
previousGamepad1 = new Gamepad(); previousGamepad1 = new Gamepad();
currentGamepad2 = new Gamepad();
previousGamepad2 = new Gamepad();
} }
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) { public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
@ -98,6 +101,7 @@ public class DevTeleop extends OpMode {
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) { public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.y && !previousGamepad2.y) { if (currentGamepad2.y && !previousGamepad2.y) {
lift.toLowBucket(); lift.toLowBucket();
arm.bucketArm();
wrist.bucketWrist(); wrist.bucketWrist();
} }
} }
@ -105,6 +109,7 @@ public class DevTeleop extends OpMode {
if (currentGamepad2.a && !previousGamepad2.a) { if (currentGamepad2.a && !previousGamepad2.a) {
lift.toHighBucket(); lift.toHighBucket();
arm.bucketArm();
wrist.bucketWrist(); wrist.bucketWrist();
} }
} }
@ -112,6 +117,9 @@ public class DevTeleop extends OpMode {
public void loop() { public void loop() {
previousGamepad1.copy(currentGamepad1); previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1); currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
theDrop(arm, wrist); theDrop(arm, wrist);
thePickup(claw); thePickup(claw);
@ -148,10 +156,10 @@ public class DevTeleop extends OpMode {
// Send calculated power to wheels // Send calculated power to wheels
frontLeftMotor.setPower(leftFrontPower); frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
frontRightMotor.setPower(rightFrontPower); frontRightMotor.setPower(rightFrontPower * MAX_POWER);
backLeftMotor.setPower(leftBackPower); backLeftMotor.setPower(leftBackPower * MAX_POWER);
backRightMotor.setPower(rightBackPower); backRightMotor.setPower(rightBackPower * MAX_POWER);
// Show the elapsed game time and wheel power. // Show the elapsed game time and wheel power.
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower); telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);