From b0db84a61c980d16d677210fcfd7237478105ee4 Mon Sep 17 00:00:00 2001 From: robotics3 Date: Fri, 31 Jan 2025 13:53:10 -0800 Subject: [PATCH] Hang Successful --- .../cometbots/CometBotTeleOpDevelopment.java | 17 +++++++---------- .../cometbots/tests/DualMotorSliderTest.java | 2 +- .../ftc/teamcode/configs/RobotConstants.java | 2 +- .../subsystem/DualMotorSliderSubsystem.java | 2 +- 4 files changed, 10 insertions(+), 13 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java index 35e6e52..852911c 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java @@ -1,5 +1,6 @@ package org.firstinspires.ftc.teamcode.cometbots; +import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR; import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER; import com.qualcomm.robotcore.hardware.Gamepad; @@ -105,18 +106,14 @@ public class CometBotTeleOpDevelopment { private void armAndWristToFloor() { if (currentGamepad2.a && !previousGamepad2.a) { arm.toFloorPositionTeleOp(); - if (wrist.getState() != WristSubsystem.WristState.FLOOR) { - wrist.toFloorPositionTeleop(); - } else { + if (arm.getState() == ArmSubsystem.ArmState.FLOOR) { + wrist.switchState(); + } else if (arm.getState() != ArmSubsystem.ArmState.FLOOR) { wrist.toPickupPosition(); + } else { + wrist.toFloorPosition(); } } - - if (currentGamepad2.a && !previousGamepad2.a) { - wrist.switchState(); - } - - } private void armToBucketPosition() { @@ -130,7 +127,7 @@ public class CometBotTeleOpDevelopment { private void armToParkPosition() { if (currentGamepad2.x && !previousGamepad2.x) { arm.toParkPosition(); - wrist.toFloorPositionTeleop(); + wrist.toFloorPosition(); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java index 10d9466..c5e23f1 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java @@ -19,7 +19,7 @@ public class DualMotorSliderTest extends LinearOpMode { private DcMotorEx liftSlideLeft; private DcMotorEx liftSlideRight; - public static double kp = 0.0015, ki = 0, kd = 0; + public static double kp = 0.002, ki = 0, kd = 0; private double lastError = 0; private double integralSum = 0; public static int targetPosition = 0; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java index cdd9d8c..db24a10 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java @@ -27,7 +27,7 @@ public class RobotConstants { public final static double armSpecimen = 0.155; public final static double armInit = 0.13; public final static double wristInit = 0.125; - public final static double wristPickup = 0.475; + public final static double wristPickup = 0.425; public final static double wristBucket = 0.56; public final static double wristSpecimenPrep = 0.63; public final static double wristSpecimenHang = 0.53; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java index b4dde68..2adfbd4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java @@ -56,7 +56,7 @@ public class DualMotorSliderSubsystem { It's the only value we set because the variable ki and kd deal with how to handle when we're off the path. Since we're going straight, we don't need to worry about. */ - public final static double kp = 0.0015, ki = 0, kd = 0; + public final static double kp = 0.002, ki = 0, kd = 0; /* lastError/integralSum/timer - These 3 variables are placeholders in determining how much