SCDS/FTCRoadRunnerRobotics
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Merge remote-tracking branch 'origin/branch-rc-chassis-14493-subsystem' into branch-rc-chassis-14493-subsystem

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This commit is contained in:
Carlos Rivas
2024-11-05 16:40:55 -08:00
parent 2a06f7e98d 83da8e0de0
commit 6fe6eab830
2 changed files with 15 additions and 7 deletions
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20
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
View File

@ -44,6 +44,8 @@ public class DevTeleop extends OpMode {
public DcMotor backLeftMotor;
public DcMotor frontRightMotor;
public DcMotor backRightMotor;
private double MAX_POWER = .6;
@Override
public void init() {
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
@ -67,7 +69,8 @@ public class DevTeleop extends OpMode {
currentGamepad1 = new Gamepad();
previousGamepad1 = new Gamepad();
currentGamepad2 = new Gamepad();
previousGamepad2 = new Gamepad();
}
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
@ -80,7 +83,7 @@ public class DevTeleop extends OpMode {
}
public void thePickup(ClawSubsystem claw) {
if (currentGamepad1.x && !previousGamepad1.x) {
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
claw.switchState();
}
@ -98,6 +101,7 @@ public class DevTeleop extends OpMode {
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.y && !previousGamepad2.y) {
lift.toLowBucket();
arm.bucketArm();
wrist.bucketWrist();
}
}
@ -105,6 +109,7 @@ public class DevTeleop extends OpMode {
if (currentGamepad2.a && !previousGamepad2.a) {
lift.toHighBucket();
arm.bucketArm();
wrist.bucketWrist();
}
}
@ -112,6 +117,9 @@ public class DevTeleop extends OpMode {
public void loop() {
previousGamepad1.copy(currentGamepad1);
currentGamepad1.copy(gamepad1);
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
theDrop(arm, wrist);
thePickup(claw);
@ -148,10 +156,10 @@ public class DevTeleop extends OpMode {
// Send calculated power to wheels
frontLeftMotor.setPower(leftFrontPower);
frontRightMotor.setPower(rightFrontPower);
backLeftMotor.setPower(leftBackPower);
backRightMotor.setPower(rightBackPower);
frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
frontRightMotor.setPower(rightFrontPower * MAX_POWER);
backLeftMotor.setPower(leftBackPower * MAX_POWER);
backRightMotor.setPower(rightBackPower * MAX_POWER);
// Show the elapsed game time and wheel power.
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
View File

@ -16,6 +16,6 @@ public class RobotConstants {
public static int liftToFloorPos = 0;
public static int liftToPoolPos = 500;
public static int liftToLowBucketPos = 2250;
public static int liftToHighBucketPos = 3700;
public static int liftToHighBucketPos = 3850;
public static double liftPower = .45;
}