SCDS/FTCRoadRunnerRobotics
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robotics1
2025-01-22 12:31:31 -08:00
parent a08dd82de2
commit 71b91fa3ff
5 changed files with 61 additions and 23 deletions
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36
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
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@ -87,21 +87,21 @@ public class CometBotDriveV2 extends OpMode {
switch (state) {
case 0:
moveToPathOneAndHighBucket();
// doArmThing1();
break;
case 1:
// doArmThing2();
doArmThing();
state = 2;
break;
case 2:
moveToPathTwoAndPickSampleUp();
break;
// case 3:
case 3:
// doPickUpThing();
// break;
// case 4:
// moveToBasketPath3();
// break;
state = 4;
break;
case 4:
// moveToBasketPath3();
break;
// case 5:
// theArmThing();
// break;
@ -154,19 +154,17 @@ public class CometBotDriveV2 extends OpMode {
return new SetStateAction(value);
}
private void doArmThing1() {
lift.toHighBucketPosition();
private void doArmThing() {
lift.toHighBucketReverseDrop();
arm.toBucketPosition();
wrist.toBucketPosition();
claw.openClaw();
wrist.toFloorPosition();
state = 2;
}
private void doArmThing2() {
wrist.toBucketPosition();
claw.openClaw();
wrist.toFloorPosition();
state = 2;
}
// private void theArmThing() {
// telemetry.addData("busy?", follower.isBusy());
@ -192,12 +190,12 @@ public class CometBotDriveV2 extends OpMode {
}
}
//
private void moveToPathBasketPath3() {
private void moveToBasketPath3() {
if (!follower.isBusy()) {
path3.moveToBasketPath3(follower);
state = 3;
} }
state = 5;
}
}
// private void moveToPickupAgainPath4() {
// if (!followingPath) {

35
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath3.java Normal file
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@ -0,0 +1,35 @@
package org.firstinspires.ftc.teamcode.cometbots.paths;
import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
/*
AutoLine# - This file does something of a path......
*/
public class HighBasketPath3 {
public void moveToBasketPath3(Follower robot) {
PathChain pathChain;
PathBuilder builder = new PathBuilder();
builder
.addPath(
// Line 1
new BezierLine(
new Point(26.000, 117.000, Point.CARTESIAN),
new Point(10.000, 89.00, Point.CARTESIAN)
)
)
.setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(320));
pathChain = builder.build();
robot.followPath(pathChain);
}
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ClawSubsystem.java
View File

@ -34,13 +34,13 @@ public class ClawSubsystem {
}
public void closeClaw() {
claw.setPosition(clawClose);
thumbDown();
state = ClawState.CLOSED;
}
public void openClaw() {
claw.setPosition(clawOpen);
thumbUp();
state = ClawState.OPEN;
}

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java
View File

@ -2,6 +2,7 @@ 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 static org.firstinspires.ftc.teamcode.configs.RobotConstants.backwardBucketDrop;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
@ -71,7 +72,9 @@ public class DualMotorSliderSubsystem {
liftSlideLeft = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_LEFT_MOTOR);
liftSlideRight = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_RIGHT_MOTOR);
}
public int getCurrentPosition(){
return liftSlideLeft.getCurrentPosition();
}
public void init() {
/*
Initialize the motors with the following settings (assuming slide is at the very bottom position):
@ -141,5 +144,6 @@ public class DualMotorSliderSubsystem {
}
public void toFloorPosition(){setTargetPosition(0);}
public void toHighBucketReverseDrop(){setTargetPosition(backwardBucketDrop);}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftArmWrist.java
View File

@ -108,6 +108,7 @@ public class LiftArmWrist extends LinearOpMode {
wrist.setPosition(wrist.getPosition() - .05);
}
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
lift.toHighBucketPosition();
}
@ -124,7 +125,7 @@ public class LiftArmWrist extends LinearOpMode {
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.update();
}
}