SCDS/FTCRoadRunnerRobotics
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This commit is contained in:
Carlos Rivas
2024-11-11 20:56:00 -08:00
parent 19308712c9
commit de70c14c6e
1 changed files with 47 additions and 3 deletions
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50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
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@ -95,9 +95,14 @@ public class CometBotTeleopCompetition {
}
/*
Controller: 1
Button: A
Action: On button press, Arm hovers the floor with wrist parallel to arm
Type: PS4 / Logitech
Controller: 2
Button: TRIANGLE / Y
Assumption: Claw is holding specimen, robot is facing buckets ready to score
Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
raises to high bucket. Once at high bucket position, move arm forward, wrist forward
and open claw to drop specimen into bucket. Finally, put arm back up and wrist back up,
retract lift all the way down to floor position and back to TRAVELING state.
*/
public void toHighBucketScore() {
if (this.currentGP2.triangle && !this.previousGP2.triangle) {
@ -122,6 +127,16 @@ public class CometBotTeleopCompetition {
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: CIRCLE / B
Assumption: Claw is holding specimen, robot is facing buckets ready to score
Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
raises to low bucket. Once at low bucket position, move arm forward, wrist forward
and open claw to drop specimen into bucket. Finally, put arm back up and wrist back up,
retract lift all the way down to floor position and back to TRAVELING state.
*/
public void toLowBucketScore() {
if (this.currentGP2.circle && !this.previousGP2.circle) {
fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
@ -145,18 +160,47 @@ public class CometBotTeleopCompetition {
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: RIGHT BUMPER
Assumption: Working claw mechanism
Action: On button press, claw switches state from OPEN to CLOSE
*/
public void clawControl() {
if (this.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
this.claw.switchState();
}
}
/*
Type: PS4 / Logitech
Controller: 2
Button: SQUARE / X
Assumption: Working arm mechanism
Action: On button press, pulls arm up and wrist up, ideal for traveling the field when
holding a specimen in claws
*/
public void toArmParkPosition() {
if (this.currentGP2.square && !this.previousGP2.square) {
Actions.runBlocking(this.arm.toParkPosition());
}
}
/*
Type: PS4
Controller: 2
Button: CROSS / A
Assumption: Working claw, arm and wrist mechanisms
Action: On button press, if arm is in PARK (toArmParkPosition), drop the arm to SUBMARINE
position. SUBMARINE position means the arm and wrist are parallel to the floor, raised
3 INCHES off the ground. This state is ideal for moving the arm into the SUBMARINE
area of the field.
When arm is in SUBMARINE position, pressing the button again puts the arm and wrist into
FLOOR state. This angles the arm and wrist down so that it is able to pick specimens
from within the SUBMARINE floor.
*/
public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
if (this.currentGP2.cross && !previousGP2.cross) {
if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {