SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Autoclaw added

Browse Source
This commit is contained in:
robotics3
2025-02-06 16:51:35 -08:00
parent 2974904109
commit 933d33bf43
3 changed files with 12 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
View File

@ -192,7 +192,7 @@ public class CometBotDriveV2 extends OpMode {
wrist.toReverseBucket(); wrist.toReverseBucket();
} }
if(runtime.seconds() > 12.75) { if(runtime.seconds() > 12.75) {
claw.openClaw(); claw.autoOpenClaw();
state = 6; state = 6;
} }
} }
@ -205,7 +205,7 @@ public class CometBotDriveV2 extends OpMode {
wrist.toReverseBucket(); wrist.toReverseBucket();
} }
if(runtime.seconds() > 23.00) { if(runtime.seconds() > 23.00) {
claw.openClaw(); claw.autoOpenClaw();
state = 10; state = 10;
} }
} }
@ -217,7 +217,7 @@ public class CometBotDriveV2 extends OpMode {
wrist.toReverseBucket(); wrist.toReverseBucket();
} }
if (runtime.seconds() > 3.5) { if (runtime.seconds() > 3.5) {
claw.openClaw(); claw.autoOpenClaw();
} }
if (runtime.seconds() > 4) { if (runtime.seconds() > 4) {
wrist.toTravelPosition(); wrist.toTravelPosition();
@ -247,9 +247,7 @@ public class CometBotDriveV2 extends OpMode {
} }
} }
private void moveToPickupAgainPath5() {
}
private void moveToParkPath6() { private void moveToParkPath6() {
if (runtime.seconds() > 24.5) { if (runtime.seconds() > 24.5) {

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
View File

@ -6,7 +6,7 @@ import com.acmerobotics.dashboard.config.Config;
public class RobotConstants { public class RobotConstants {
public final static double clawClose = 0.95; public final static double clawClose = 0.95;
public final static double clawOpen = 0.35; public final static double clawOpen = 0.35;
public final static int autoClawOpen = 0;
public final static double armFloor = 0.7; public final static double armFloor = 0.7;

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/ClawSubsystem.java
View File

@ -4,6 +4,7 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.CLAW_NAME;
import static org.firstinspires.ftc.teamcode.PedroConstants.THUMB_SERVO; import static org.firstinspires.ftc.teamcode.PedroConstants.THUMB_SERVO;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.autoClawOpen;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.grabBlueberry; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.grabBlueberry;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
@ -12,7 +13,7 @@ import com.qualcomm.robotcore.hardware.Servo;
public class ClawSubsystem { public class ClawSubsystem {
public enum ClawState { public enum ClawState {
CLOSED, OPEN, GRAB_BLUEBERRY CLOSED, OPEN, GRAB_BLUEBERRY, AUTO_OPEN
} }
public enum ThumbState { public enum ThumbState {
@ -32,6 +33,7 @@ public class ClawSubsystem {
claw.setPosition(grabBlueberry); claw.setPosition(grabBlueberry);
state = ClawState.GRAB_BLUEBERRY; state = ClawState.GRAB_BLUEBERRY;
} }
public void closeClaw() { public void closeClaw() {
claw.setPosition(clawClose); claw.setPosition(clawClose);
@ -43,6 +45,11 @@ public class ClawSubsystem {
state = ClawState.OPEN; state = ClawState.OPEN;
} }
public void autoOpenClaw() {
claw.setPosition(autoClawOpen);
state = ClawState.AUTO_OPEN;
}
public ClawState getState() { public ClawState getState() {
return state; return state;