From 5c657ab92603c2466fbde194de5567ad8a0c08b4 Mon Sep 17 00:00:00 2001 From: robotics1 Date: Tue, 5 Nov 2024 16:04:50 -0800 Subject: [PATCH 1/3] Updated arm code. Need to make high basket code goa little higher --- .../firstinspires/ftc/teamcode/DevTeleop.java | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java index 6ae93c0..b6b46d2 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java @@ -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) { @@ -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); From 5c84d0d7c8efbee15d02b3fb0c2e6d9931165ff4 Mon Sep 17 00:00:00 2001 From: robotics1 Date: Tue, 5 Nov 2024 16:34:26 -0800 Subject: [PATCH 2/3] Updated High basket code. Made High basket go higher --- .../org/firstinspires/ftc/teamcode/configs/RobotConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java index cf66dce..755de44 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java @@ -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; } \ No newline at end of file From 83da8e0de099a1b4d8855305279b26bc93788dd1 Mon Sep 17 00:00:00 2001 From: carlos Date: Tue, 5 Nov 2024 16:39:42 -0800 Subject: [PATCH 3/3] Open close of the gripper from "X" to "right_bumper" --- .../src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java index b6b46d2..304ca6c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java @@ -83,7 +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(); }