SCDS/FTCRoadRunnerRobotics
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robotics3
2025-01-31 13:53:10 -08:00
parent b5c7379e00
commit b0db84a61c
4 changed files with 10 additions and 13 deletions
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17
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
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@ -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();
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java
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@ -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;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -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;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/DualMotorSliderSubsystem.java
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@ -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