SCDS/FTCRoadRunnerRobotics
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commit new states for reverse drops

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robotics1
2025-01-22 12:16:28 -08:00
parent 2cb8ce41dd
commit a08dd82de2
3 changed files with 15 additions and 4 deletions
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3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -9,6 +9,7 @@ public class RobotConstants {
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;
public final static double armReverseBucket = 0.08;
public final static double armPark = 0.33; public final static double armPark = 0.33;
//value for grabbing the hook Specimen //value for grabbing the hook Specimen
public final static double grabBlueberry = 0.3; public final static double grabBlueberry = 0.3;
@ -16,12 +17,14 @@ public class RobotConstants {
public final static double wristGrabBlueberrySkyhook = 0.1; public final static double wristGrabBlueberrySkyhook = 0.1;
public final static double armHangBlueberrySkyhook = 0.6; public final static double armHangBlueberrySkyhook = 0.6;
public final static double wristHangBlueberrySkyhook = 0.3; public final static double wristHangBlueberrySkyhook = 0.3;
public final static int backwardBucketDrop = 4670;
public final static double armBucket = 0.45; public final static double armBucket = 0.45;
public final static double armInit = 0.135; public final static double armInit = 0.135;
public final static double wristInit = 0.25; public final static double wristInit = 0.25;
public final static double wristPickup = 0.475; public final static double wristPickup = 0.475;
public final static double wristBucket = 0.56; public final static double wristBucket = 0.56;
public final static double wristFloor = 0.75; public final static double wristFloor = 0.75;
public final static double wristBackwardBucket = 0.775;
public final static double wristRung = 0.55; public final static double wristRung = 0.55;

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmSubsystem.java
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@ -7,6 +7,7 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armGrabBlueb
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armHangBlueberrySkyhook; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armHangBlueberrySkyhook;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armInit; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armInit;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armReverseBucket;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.ServoImplEx; import com.qualcomm.robotcore.hardware.ServoImplEx;
@ -14,7 +15,7 @@ import com.qualcomm.robotcore.hardware.ServoImplEx;
public class ArmSubsystem { public class ArmSubsystem {
public enum ArmState { public enum ArmState {
PARK, FLOOR, BUCKET, SUBMARINE, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT PARK, FLOOR, BUCKET, SUBMARINE, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT, REVERE_BUCKET
} }
private ServoImplEx arm; private ServoImplEx arm;
@ -31,7 +32,10 @@ public class ArmSubsystem {
setState(ArmState.HANG_BLUEBERRY_SKYHOOK); setState(ArmState.HANG_BLUEBERRY_SKYHOOK);
arm.setPosition(armHangBlueberrySkyhook); arm.setPosition(armHangBlueberrySkyhook);
} }
public void toReverseBucket(){
arm.setPosition(armReverseBucket);
setState(ArmState.REVERE_BUCKET);
}
public void toParkPosition() { public void toParkPosition() {
arm.setPosition(armPark); arm.setPosition(armPark);
setState(ArmState.PARK); setState(ArmState.PARK);

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.subsystem; package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_SERVO; import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_SERVO;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBackwardBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristGrabBlueberrySkyhook; import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristGrabBlueberrySkyhook;
@ -20,7 +21,7 @@ import com.qualcomm.robotcore.hardware.ServoImplEx;
public class WristSubsystem { public class WristSubsystem {
public enum WristState { public enum WristState {
FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN, GRAB_BLUEBERRY_SKYHOOK, HANG_BLUEBERRY_SKYHOOK, INIT, REVERSE_BUCKET
} }
public ServoImplEx wrist; public ServoImplEx wrist;
@ -92,7 +93,10 @@ public class WristSubsystem {
toFloorPosition(); toFloorPosition();
} }
} }
public void toReverseBucket(){
wrist.setPosition(wristBackwardBucket);
setState(WristState.REVERSE_BUCKET);
}
public WristState getState() { public WristState getState() {
return this.state; return this.state;
} }