SCDS/FTCRoadRunnerRobotics
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robotics3
2025-01-23 16:28:44 -08:00
parent b14e91b094
commit 90355add55
1 changed files with 12 additions and 11 deletions
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23
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
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@ -107,20 +107,22 @@ public class CometBotAutoDevelopment {
claw.init(); claw.init();
} }
private void hangSkyhook (){ private void hangSkyhook (){
dualSlides.toHangHeight(); if(currentGamepad1.right_bumper && !previousGamepad1.right_bumper){
wrist.hangBlueberrySkyhook(); dualSlides.toHangHeight();
try { wrist.hangBlueberrySkyhook();
Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
arm.hangBlueberrySkyhook();
if(arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK){
try { try {
Thread.sleep(1000); Thread.sleep(1000);
} catch (InterruptedException e) { } catch (InterruptedException e) {
throw new RuntimeException(e); throw new RuntimeException(e);
}claw.closeClaw(); }
arm.hangBlueberrySkyhook();
if(arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK){
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}claw.closeClaw();
}
} }
} }
@ -137,7 +139,6 @@ public class CometBotAutoDevelopment {
} }
private void armAndWristToFloor(){ private void armAndWristToFloor(){
if(currentGamepad2.a && !previousGamepad2.a){ if(currentGamepad2.a && !previousGamepad2.a){
double increment = 0.7 - arm.getPosition(); double increment = 0.7 - arm.getPosition();
for(int i = 0; i < 3; i ++){ for(int i = 0; i < 3; i ++){
arm.setPosition(arm.getPosition() + increment); arm.setPosition(arm.getPosition() + increment);