SCDS/FTCRoadRunnerRobotics
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Fixed floor position issue

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This commit is contained in:
carlos
2024-12-29 11:06:15 -08:00
parent e70e853ac7
commit 85060159d8
2 changed files with 7 additions and 12 deletions
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7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -4,8 +4,8 @@ import com.acmerobotics.dashboard.config.Config;
@Config @Config
public class RobotConstants { public class RobotConstants {
public final static double clawOpen = 0.5; public final static double clawClose = 0.8;
public final static double clawClose = 0.05; public final static double clawOpen = 0.05;
public final static double armFloor = 0.7; public final static double armFloor = 0.7;
public final static double armSubmarine = 0.55; public final static double armSubmarine = 0.55;
@ -20,8 +20,7 @@ public class RobotConstants {
public final static double wristSpeciemen = 0.1; public final static double wristSpeciemen = 0.1;
public final static int liftToFloorPos = 350; public final static int liftToFloorPos = 550;
public final static int liftToSubmarinePos = 350;
public final static int liftToLowBucketPos = 2650; public final static int liftToLowBucketPos = 2650;
public final static int liftToHighRung = 2100; public final static int liftToHighRung = 2100;
public final static int dropToHighRung = 1675; public final static int dropToHighRung = 1675;

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
View File

@ -6,12 +6,8 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToSubmarinePos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRung; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRung;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRungAttach; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRungAttach;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.dropToHighRung;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
@ -60,7 +56,7 @@ public class LiftActionsSubsystem {
} }
public Action toFloorPosition() { public Action toFloorPosition() {
return new MoveToPosition(liftToSubmarinePos, LiftState.FLOOR); return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
} }
public Action toHighRung() { public Action toHighRung() {
@ -72,15 +68,15 @@ public class LiftActionsSubsystem {
} }
public Action toZeroPosition() { public Action toZeroPosition() {
return new MoveToPosition(0, LiftState.FLOOR); return new MoveToPosition(0, LiftState.FLOOR);
} }
public Action toHighRungAttach() { public Action toHighRungAttach() {
return new MoveToPosition(liftToHighRungAttach, LiftState.HIGH_RUNG); return new MoveToPosition(liftToHighRungAttach, LiftState.HIGH_RUNG);
} }
public Action toLowBucketPosition() { public Action toLowBucketPosition() {
return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET); return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);