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This commit is contained in:
robotics1
2025-01-07 15:28:48 -08:00
parent 85060159d8
commit 793f75371e
4 changed files with 129 additions and 38 deletions
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22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
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@ -22,6 +22,7 @@ import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@Autonomous(name = "Auto Test Competition", group = "Dev")
@ -32,7 +33,7 @@ public class BlueBasketAuto extends OpMode {
private HighBasketAutoPath1 path1;
private HighBasketAutoPath2 path2;
private AutoPark pathPark;
private SkyHookSubsystem hook;
private CometBotTeleopCompetition comp;
private ElapsedTime runtime;
@ -49,6 +50,7 @@ public class BlueBasketAuto extends OpMode {
comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
comp.initCloseClaw();
runtime = new ElapsedTime();
hook = new SkyHookSubsystem(hardwareMap);
state = 0;
}
@ -84,9 +86,23 @@ public class BlueBasketAuto extends OpMode {
//pathPark.moveToPark(follower);
state = 5;
state = 3;
}
default:
case 3:
if (runtime.seconds() > 15) {
telemetry.addData("case3", "case3");
hook.toLevel1Position();
state = 4;
}
case 4:
if (runtime.seconds() > 15) {
telemetry.addData("case3", "case3");
hook.toLevel1Position();
state = 4;
//System.out.println("default");
//telemetry.addData("default", "default");
//telemetry.update();

15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
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@ -113,7 +113,6 @@ public class CometBotTeleopCompetition {
this.clawControl();
this.decreaseMaxPower();
this.increaseMaxPower();
this.moveSkyHook();
Actions.runBlocking(this.lift.toFloorPosition());
@ -287,20 +286,6 @@ public class CometBotTeleopCompetition {
public void moveSkyHook() {
if (this.currentGP2.dpad_down) {
hook.moveSkyHook(-1.00);
}
else if (this.currentGP2.dpad_up) {
hook.moveSkyHook(1.00);
}
else{
hook.moveSkyHook(0.00);
}
}
/*
Type: PS4

88
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/SkyhookTest.java Normal file
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@ -0,0 +1,88 @@
/* Copyright (c) 2021 FIRST. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided that
* the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of FIRST nor the names of its contributors may be used to endorse or
* promote products derived from this software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode.cometbots.tests;
import com.acmerobotics.roadrunner.ftc.Actions;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
@TeleOp(name = "Skyhook Test", group = "Debug")
public class SkyhookTest extends LinearOpMode {
private final ElapsedTime runtime = new ElapsedTime();
@Override
public void runOpMode() {
/*
* Instantiate Lift
*/
SkyHookSubsystem hook = new SkyHookSubsystem(hardwareMap);
/*
* Instantiate gamepad state holders
*/
Gamepad currentGamepad2 = new Gamepad();
Gamepad previousGamepad2 = new Gamepad();
hook.init();
waitForStart();
runtime.reset();
// run until the end of the match (driver presses STOP)
while (opModeIsActive()) {
previousGamepad2.copy(currentGamepad2);
currentGamepad2.copy(gamepad2);
if (currentGamepad2.dpad_up) {
hook.moveSkyHook(-1.00);;
} else if (currentGamepad2.dpad_down) {
hook.moveSkyHook(1.00);
} else {
hook.moveSkyHook(0.00);
}
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Skyhook Position", hook.getHookPosition());
telemetry.update();
}
}
}

42
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java
View File

@ -6,45 +6,47 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import com.acmerobotics.roadrunner.Action;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class SkyHookSubsystem {
public DcMotor hook;
public enum SkyHookState {
UP, DOWN, STOP
}
private SkyHookState skyHookState;
public DcMotorEx hook;
public SkyHookSubsystem(HardwareMap hardwareMap) {
hook = hardwareMap.get(DcMotor.class, SKYHOOK_NAME);
hook = hardwareMap.get(DcMotorEx.class, SKYHOOK_NAME);
}
public void moveSkyHook(int position){
hook.setTargetPosition(position);
hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
}
public void moveSkyHook(double power){
this.hook.setPower(power);
this.hook.setDirection(DcMotorSimple.Direction.REVERSE);
//this.setState(SkyHookState.DOWN);
public void moveSkyHook(double power) {
hook.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
hook.setPower(power);
}
public void init() {
hook.setPower(0);
hook.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
hook.setTargetPosition(0);
}
private void setState(SkyHookState liftState) {
this.skyHookState = liftState;
public void toParkPosition() {
moveSkyHook(0);
}
public SkyHookState getState() {
return this.skyHookState;
public void toLevel1Position() {
moveSkyHook(1500);
}
public int getHookPosition() {
return hook.getCurrentPosition();
}
}