diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java index 0534aec..d87e554 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java @@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode; import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.SleepAction; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.Disabled; import com.qualcomm.robotcore.eventloop.opmode.OpMode; @@ -9,6 +10,7 @@ import com.qualcomm.robotcore.util.ElapsedTime; import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition; +import org.firstinspires.ftc.teamcode.configs.RobotConstants; import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; @@ -16,28 +18,39 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; +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; -@Disabled -@Autonomous(name = "Auto Test", group = "Dev") + +@Autonomous(name = "Auto Test Competition", group = "Dev") public class BlueBasketAuto extends OpMode { private Follower follower; private int state; private HighBasketAutoPath1 path1; private HighBasketAutoPath2 path2; + private AutoPark pathPark; + private CometBotTeleopCompetition comp; private ElapsedTime runtime; + private LiftActionsSubsystem liftActionsSubsystem; + @Override public void init() { follower = new Follower(hardwareMap); follower.setMaxPower(.75); - path1 = new HighBasketAutoPath1(); - path2 = new HighBasketAutoPath2(); + path1 = new HighBasketAutoPath1(); + path2 = new HighBasketAutoPath2(); + pathPark = new AutoPark(); + comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2); comp.initCloseClaw(); + runtime = new ElapsedTime(); + state = 0; + } @@ -45,18 +58,41 @@ public class BlueBasketAuto extends OpMode { public void loop() { switch(state) { case 0: + telemetry.addData("case0", "case0"); + path1.moveToPath1(follower); state = 1; runtime.reset(); case 1: if (runtime.seconds() > 5) { - path2.moveToPath1(follower); + telemetry.addData("case1", "case1"); + + new SleepAction(.5); + comp.highBucketDropAuto(); + state = 2; } + case 2: + if (runtime.seconds() > 15) { + telemetry.addData("case2", "case2"); + + new SleepAction(.5); + path2.moveToPath1(follower); + + //For next time, add encoder control to skyhook and extend here + //comp.moveSkyHook(); + + //pathPark.moveToPark(follower); + + state = 5; + } default: - System.out.println("default"); + //System.out.println("default"); + //telemetry.addData("default", "default"); + //telemetry.update(); } + telemetry.update(); follower.update(); - follower.telemetryDebug(telemetry); + //follower.telemetryDebug(telemetry); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop3.java deleted file mode 100644 index caeab2e..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop3.java +++ /dev/null @@ -1,55 +0,0 @@ -package org.firstinspires.ftc.teamcode; - -import com.acmerobotics.dashboard.FtcDashboard; -import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; - -import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; -@Disabled -@Autonomous(name = "DKJBFWOFHBOUW EHBF", group = "Dev") -public class BlueBasketAutoWithDrop3 extends OpMode { - private Telemetry telemetryA; - - private Follower follower; - - private PathChain path; - - - @Override - public void init() { - follower = new Follower(hardwareMap); - - follower.setMaxPower(.75); - - path = follower.pathBuilder() - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)) - .addPath( - // Line 3 - new BezierCurve( - new Point(32.000, 123.000, Point.CARTESIAN), - new Point(16.000, 120.000, Point.CARTESIAN), - new Point(16.000, 128.000, Point.CARTESIAN) - ) - ) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build(); - - follower.followPath(path); - - telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); - telemetryA.update(); - } - - - @Override - public void loop() { - follower.update(); - follower.telemetryDebug(telemetryA); - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop4.java deleted file mode 100644 index 5cdf963..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop4.java +++ /dev/null @@ -1,55 +0,0 @@ -package org.firstinspires.ftc.teamcode; - -import com.acmerobotics.dashboard.FtcDashboard; -import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; - -import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; -@Disabled -@Autonomous(name = "rndnohsdnhngph", group = "Dev") -public class BlueBasketAutoWithDrop4 extends OpMode { - private Telemetry telemetryA; - - private Follower follower; - - private PathChain path; - - - @Override - public void init() { - follower = new Follower(hardwareMap); - - follower.setMaxPower(.75); - - path = follower.pathBuilder() - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)) - .addPath( - // Line 4 - new BezierLine( - new Point(16.000, 128.000, Point.CARTESIAN), - new Point(32.000, 133.500, Point.CARTESIAN) - ) - ) - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)).build(); - - follower.followPath(path); - - telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); - telemetryA.update(); - } - - - @Override - public void loop() { - follower.update(); - follower.telemetryDebug(telemetryA); - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop5.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop5.java deleted file mode 100644 index 529c3f0..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop5.java +++ /dev/null @@ -1,56 +0,0 @@ -package org.firstinspires.ftc.teamcode; - -import com.acmerobotics.dashboard.FtcDashboard; -import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; - -import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; -@Disabled -@Autonomous(name = "rboeruhbgoeruhbg", group = "Dev") -public class BlueBasketAutoWithDrop5 extends OpMode { - private Telemetry telemetryA; - - private Follower follower; - - private PathChain path; - - - @Override - public void init() { - follower = new Follower(hardwareMap); - - follower.setMaxPower(.75); - - path = follower.pathBuilder() - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)) - .addPath( - // Line 5 - new BezierLine( - new Point(32.000, 133.500, Point.CARTESIAN), - new Point(16.000, 128.000, Point.CARTESIAN) - ) - ) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build(); - - - follower.followPath(path); - - telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); - telemetryA.update(); - } - - - @Override - public void loop() { - follower.update(); - follower.telemetryDebug(telemetryA); - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop6.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop6.java deleted file mode 100644 index 17939d7..0000000 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop6.java +++ /dev/null @@ -1,53 +0,0 @@ -package org.firstinspires.ftc.teamcode; - -import com.acmerobotics.dashboard.FtcDashboard; -import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; -import com.qualcomm.robotcore.eventloop.opmode.Autonomous; -import com.qualcomm.robotcore.eventloop.opmode.Disabled; -import com.qualcomm.robotcore.eventloop.opmode.OpMode; - -import org.firstinspires.ftc.robotcore.external.Telemetry; -import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; -import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; -import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; -@Disabled -@Autonomous(name = "piqeripgqreipbripbipb", group = "Dev") -public class BlueBasketAutoWithDrop6 extends OpMode { - private Telemetry telemetryA; - - private Follower follower; - - private PathChain path; - - @Override - public void init() { - follower = new Follower(hardwareMap); - - follower.setMaxPower(.75); - - path = follower.pathBuilder() - .addPath( - // Line 6 - new BezierCurve( - new Point(16.000, 128.000, Point.CARTESIAN), - new Point(85.000, 132.750, Point.CARTESIAN), - new Point(84.000, 97.000, Point.CARTESIAN) - ) - ) - .setTangentHeadingInterpolation.build(); - - follower.followPath(path); - - telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); - telemetryA.update(); - } - - - @Override - public void loop() { - follower.update(); - follower.telemetryDebug(telemetryA); - } -} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java index 7cf501d..6d4dca3 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java @@ -113,8 +113,8 @@ public class CometBotTeleopCompetition { this.clawControl(); this.decreaseMaxPower(); this.increaseMaxPower(); - this.raiseSkyHook(); - //this.lowerSkyHook(); + this.moveSkyHook(); + Actions.runBlocking(this.lift.toFloorPosition()); @@ -199,7 +199,24 @@ public class CometBotTeleopCompetition { new SleepAction(.5) )); } - + public void highBucketDropAuto() { + Actions.runBlocking(new SequentialAction( + new SleepAction(.5), + this.lift.toHighBucketPosition(), + new SleepAction(.5), + this.arm.toBucketPosition(), + new SleepAction(.5), + this.wrist.toBucketPosition(), + new SleepAction(.5), + this.claw.openClaw(), + new SleepAction(.5), + this.wrist.toFloorPosition(), + new SleepAction(.5), + this.arm.toParkPosition(), + this.lift.toZeroPosition(), + new SleepAction(.5) + )); + } /* Type: PS4 / Logitech Controller: 2 @@ -268,26 +285,17 @@ public class CometBotTeleopCompetition { } } - public void lowerSkyHook() { - if (this.currentGP2.dpad_down) { - hook.lowerHook(1.00); - } - else{ - hook.lowerHook(0.00); - } - } - public void raiseSkyHook() { + public void moveSkyHook() { if (this.currentGP2.dpad_down) { - hook.lowerHook(1.00); + hook.moveSkyHook(-1.00); } else if (this.currentGP2.dpad_up) { - hook.raiseHook(1.00); + hook.moveSkyHook(1.00); } else{ - hook.raiseHook(0.00); - hook.lowerHook(0.00); + hook.moveSkyHook(0.00); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java index 649c126..8346e68 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java @@ -929,31 +929,31 @@ public class Follower { * method will use to output the debug data. */ public void telemetryDebug(MultipleTelemetry telemetry) { - telemetry.addData("follower busy", isBusy()); - telemetry.addData("heading error", headingError); - telemetry.addData("heading vector magnitude", headingVector.getMagnitude()); - telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude()); - telemetry.addData("corrective vector heading", correctiveVector.getTheta()); - telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude()); - telemetry.addData("translational error direction", getTranslationalError().getTheta()); - telemetry.addData("translational vector magnitude", translationalVector.getMagnitude()); - telemetry.addData("translational vector heading", translationalVector.getMagnitude()); - telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude()); - telemetry.addData("centripetal vector heading", centripetalVector.getTheta()); - telemetry.addData("drive error", driveError); - telemetry.addData("drive vector magnitude", driveVector.getMagnitude()); - telemetry.addData("drive vector heading", driveVector.getTheta()); - telemetry.addData("x", getPose().getX()); - telemetry.addData("y", getPose().getY()); - telemetry.addData("heading", getPose().getHeading()); - telemetry.addData("total heading", poseUpdater.getTotalHeading()); - telemetry.addData("velocity magnitude", getVelocity().getMagnitude()); - telemetry.addData("velocity heading", getVelocity().getTheta()); - driveKalmanFilter.debug(telemetry); - telemetry.update(); - if (drawOnDashboard) { - Drawing.drawDebug(this); - } +// telemetry.addData("follower busy", isBusy()); +// telemetry.addData("heading error", headingError); +// telemetry.addData("heading vector magnitude", headingVector.getMagnitude()); +// telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude()); +// telemetry.addData("corrective vector heading", correctiveVector.getTheta()); +// telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude()); +// telemetry.addData("translational error direction", getTranslationalError().getTheta()); +// telemetry.addData("translational vector magnitude", translationalVector.getMagnitude()); +// telemetry.addData("translational vector heading", translationalVector.getMagnitude()); +// telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude()); +// telemetry.addData("centripetal vector heading", centripetalVector.getTheta()); +// telemetry.addData("drive error", driveError); +// telemetry.addData("drive vector magnitude", driveVector.getMagnitude()); +// telemetry.addData("drive vector heading", driveVector.getTheta()); +// telemetry.addData("x", getPose().getX()); +// telemetry.addData("y", getPose().getY()); +// telemetry.addData("heading", getPose().getHeading()); +// telemetry.addData("total heading", poseUpdater.getTotalHeading()); +// telemetry.addData("velocity magnitude", getVelocity().getMagnitude()); +// telemetry.addData("velocity heading", getVelocity().getTheta()); +// driveKalmanFilter.debug(telemetry); +// telemetry.update(); +// if (drawOnDashboard) { +// Drawing.drawDebug(this); +// } } /** diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoPark.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoPark.java new file mode 100644 index 0000000..204772d --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoPark.java @@ -0,0 +1,36 @@ +package org.firstinspires.ftc.teamcode.subsystem; + + +import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower; +import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain; +import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point; + + +/* + AutoLine# - This file does something of a path...... + + */ +public class AutoPark { + + + public void moveToPark(Follower robot) { + PathChain pathChain; + PathBuilder builder = new PathBuilder(); + builder + .addPath( + new BezierCurve( + new Point(18.000, 126.000, Point.CARTESIAN), + new Point(85.000, 132.750, Point.CARTESIAN), + new Point(84.000, 97.000, Point.CARTESIAN) + ) + ) + .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(135)); + pathChain = builder.build(); + robot.followPath(pathChain); + } + +} + diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java index 2df4651..76bf66c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java @@ -23,14 +23,13 @@ public class HighBasketAutoPath1 { PathBuilder builder = new PathBuilder(); builder .addPath( - // Line 1 new BezierCurve( new Point(8.000, 89.000, Point.CARTESIAN), new Point(24.000, 96.000, Point.CARTESIAN), - new Point(16.000, 128.000, Point.CARTESIAN) + new Point(18.000, 126.000, Point.CARTESIAN) ) ) - .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)); + .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).build(); pathChain = builder.build(); robot.followPath(pathChain); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java index a956d4f..50f70c8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java @@ -22,12 +22,12 @@ public class HighBasketAutoPath2 { .addPath( // Line 2 new BezierCurve( - new Point(16.000, 128.000, Point.CARTESIAN), - new Point(16.000, 120.000, Point.CARTESIAN), - new Point(32.000, 123.000, Point.CARTESIAN) + new Point(18.000, 126.000, Point.CARTESIAN), + new Point(85.000, 132.750, Point.CARTESIAN), + new Point(84.000, 97.000, Point.CARTESIAN) ) ) - .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0)); + .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(135)); pathChain = builder.build(); robot.followPath(pathChain); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java index dc7bd6d..bbbde1d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java @@ -72,6 +72,9 @@ public class LiftActionsSubsystem { } + public Action toZeroPosition() { + return new MoveToPosition(0, LiftState.FLOOR); + } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java index ada6f6e..82a243d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/SkyHookSubsystem.java @@ -25,12 +25,8 @@ public class SkyHookSubsystem { - public void raiseHook(double power){ - this.hook.setPower(power); - this.hook.setDirection(DcMotorSimple.Direction.FORWARD); - //this.setState(SkyHookState.UP); - } - public void lowerHook(double power){ + + public void moveSkyHook(double power){ this.hook.setPower(power); this.hook.setDirection(DcMotorSimple.Direction.REVERSE); //this.setState(SkyHookState.DOWN);