SCDS/FTCRoadRunnerRobotics
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Commit Hang Subsystem

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This commit is contained in:
robotics3
2025-01-23 10:52:56 -08:00
parent 71b91fa3ff
commit 839837c844
3 changed files with 58 additions and 7 deletions
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11
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
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@ -114,12 +114,9 @@ public class CometBotAutoDevelopment {
}
}
private void armAndWristToFloor(){
if(currentGamepad2.a && !previousGamepad2.a){
wrist.switchState();
}
if(currentGamepad2.a && !previousGamepad2.a){
double increment = 0.5 - arm.getPosition();
double increment = 0.7 - arm.getPosition();
for(int i = 0; i < 3; i ++){
arm.setPosition(arm.getPosition() + increment);
try {
@ -129,9 +126,11 @@ public class CometBotAutoDevelopment {
}
}
arm.toFloorPosition();
}
if(currentGamepad2.a && !previousGamepad2.a ){
wrist.switchState();
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -30,7 +30,8 @@ public class RobotConstants {
public final static double wristSpeciemen = 0.1;
public final static int toBar = 500;
public final static int toFloor = 0;
public final static int liftToFloorPos = 350;
public final static int liftToSubmarinePos = 350;
public final static int liftToLowBucketPos = 1750;

51
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HangMotorSubsystem.java Normal file
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@ -0,0 +1,51 @@
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 com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toBar;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toFloor;
public class HangMotorSubsystem {
private DcMotorEx Hang;
public HangMotorSubsystem(HardwareMap hardwareMap) {
Hang = hardwareMap.get(DcMotorEx.class, "skyhook");
}
public int getCurrentPosition(){
int Return = Hang.getCurrentPosition();
return Return;
}
public void init(){
Hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
Hang.setDirection(DcMotorSimple.Direction.FORWARD);
Hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
Hang.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
}
public void hangRobot(){
Hang.setTargetPosition(toBar);
}
public void robotToFloor(){
Hang.setTargetPosition(toFloor);
}
public void disableMotor(){
Hang.setPower(0);
Hang.setMotorDisable();
}
public void toHangPosition(int Position){
//write in limits for protection
Hang.setPower(Position);
}
}