SCDS/FTCRoadRunnerRobotics
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Added Hoverstate

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This commit is contained in:
carlos
2024-11-07 16:23:47 -08:00
parent e5a429c6ae
commit 66a831fa59
3 changed files with 22 additions and 2 deletions
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13
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -80,6 +80,8 @@ public class DevTeleop extends OpMode {
arm.engageArm(); arm.engageArm();
} }
} }
public void thePickup(ClawSubsystem claw) { public void thePickup(ClawSubsystem claw) {
//claw open close //claw open close
@ -124,6 +126,17 @@ public class DevTeleop extends OpMode {
wrist.floorWrist(); 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 @Override
public void loop() { public void loop() {
previousGamepad1.copy(currentGamepad1); previousGamepad1.copy(currentGamepad1);

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -5,7 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
@Config @Config
public class RobotConstants { public class RobotConstants {
public static double clawClose = 1.00; 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 armEngage = 0.5;
public static double armPark = 0.125; public static double armPark = 0.125;
@ -18,4 +18,5 @@ public class RobotConstants {
public static int liftToLowBucketPos = 2250; public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3850; public static int liftToHighBucketPos = 3850;
public static double liftPower = .45; public static double liftPower = .45;
public static int liftToHoverState = 60;
} }

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
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@ -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.liftToFloorPos;
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.liftToHoverState;
import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple; import com.qualcomm.robotcore.hardware.DcMotorSimple;
@ -18,7 +19,7 @@ public class LiftSubsystem {
public RunAction toFloor, toLowBucket, toHighBucket; public RunAction toFloor, toLowBucket, toHighBucket;
public enum LiftState { public enum LiftState {
FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, HOVER
} }
private LiftState liftState; private LiftState liftState;
@ -47,6 +48,11 @@ public class LiftSubsystem {
} }
} }
public void toHover() {
this.setTarget(liftToHoverState);
this.setState(LiftState.HOVER);
}
public void toFloor() { public void toFloor() {
this.setTarget(liftToFloorPos); this.setTarget(liftToFloorPos);
this.setState(LiftState.FLOOR); this.setState(LiftState.FLOOR);