SCDS/FTCRoadRunnerRobotics
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Moved device names to constants file

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This commit is contained in:
Carlos Rivas
2024-11-10 19:41:58 -08:00
parent 80d542d6fc
commit d2c64a7d91
5 changed files with 45 additions and 20 deletions
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51
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
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@ -8,43 +8,64 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
public class PedroConstants {
/*
Robot parameters
Motor configuration names
*/
// Turn localizer - -0.003
// Robot motor configurations
public static final String BRAIN_ROT = "Sikidi rizz 360 no teleop tf2 mama mia 2cool 4skool yasyasy yasyasyasyasyasyasyaysy ohio yes heh me is moar skeebeedee than u walked and got tripped on by your aunt my very educaded mother just served us nine what? just kydinfoiwfowefwofwioefoiejfeoiwjfomdsklfnslefknesfklnkfenfenkfeknfenkfeknfenkefnk";
public static final String FRONT_LEFT_MOTOR = "Drive front lt";
public static final String BACK_LEFT_MOTOR = "Drive back lt";
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
public static final String BACK_LEFT_MOTOR = "Drive back lt";
public static final String FRONT_RIGHT_MOTOR = "Drive front rt";
public static final String BACK_RIGHT_MOTOR = "Drive back rt";
// Robot motor direction
/*
Motor directions
*/
public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
// Robot IMU configuration
/*
IMU
*/
public static final String IMU = "imu";
// Robot IMU placement
public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
= RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
= RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
// Robot encoders
/*
Dead wheels
*/
public static final String LEFT_ENCODER = "encoder left";
public static final String RIGHT_ENCODER = "encoder right";
public static final String BACK_ENCODER = "encoder back";
// Robot encoder direction
/*
Dead wheel directions
*/
public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
/*
Arm configuration name
*/
public static final String ARM_NAME = "arm-servo";
/*
Claw configuration name
*/
public static final String CLAW_NAME = "claw-servo";
/*
Lift configuration name
*/
public static final String LIFT_NAME = "lift-motor";
/*
Wrist configuration name
*/
public static final String WRIST_NAME = "wrist-servo";
/*
Pedro's parameters
*/

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmActionsSubsystem.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.ARM_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
@ -23,7 +24,7 @@ public class ArmActionsSubsystem {
private ArmState state;
public ArmActionsSubsystem(HardwareMap hardwareMap) {
this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
this.arm = hardwareMap.get(ServoImplEx.class, ARM_NAME);
}
public class MoveToPosition implements Action {

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ClawActionsSubsystem.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.CLAW_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
@ -21,7 +22,7 @@ public class ClawActionsSubsystem {
private ClawState state;
public ClawActionsSubsystem(HardwareMap hardwareMap) {
this.claw = hardwareMap.get(Servo.class, "claw-servo");
this.claw = hardwareMap.get(Servo.class, CLAW_NAME);
}
public class MoveToPosition implements Action {
@ -37,7 +38,7 @@ public class ClawActionsSubsystem {
public boolean run(@NonNull TelemetryPacket telemetryPacket) {
setState(positionState);
claw.setPosition(positionValue);
telemetryPacket.put("Arm State", positionState);
telemetryPacket.put("Claw State", positionState);
return false;
}
}

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
@ -25,7 +26,7 @@ public class LiftActionsSubsystem {
private LiftState liftState;
public LiftActionsSubsystem(HardwareMap hardwareMap) {
lift = hardwareMap.get(DcMotor.class, "lift-motor");
lift = hardwareMap.get(DcMotor.class, LIFT_NAME);
}
public class MoveToPosition implements Action {

3
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristSubsystem.java
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@ -1,5 +1,6 @@
package org.firstinspires.ftc.teamcode.subsystem;
import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_NAME;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
@ -22,7 +23,7 @@ public class WristSubsystem {
public Telemetry telemetry;
public WristSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
this.wrist = hardwareMap.get(ServoImplEx.class, WRIST_NAME);
this.telemetry = telemetry;
toBucketPosition = new RunAction(this::toBucketPosition);
toFloorPosition = new RunAction(this::toFloorPosition);