SCDS/FTCRoadRunnerRobotics
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Changing arm controls to be more intuitive

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This commit is contained in:
carlos
2024-11-07 15:38:33 -08:00
parent 7a42724b44
commit e5a429c6ae
1 changed files with 15 additions and 12 deletions
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27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -45,7 +45,7 @@ public class DevTeleop extends OpMode {
public DcMotor frontRightMotor; public DcMotor frontRightMotor;
public DcMotor backRightMotor; public DcMotor backRightMotor;
private double MAX_POWER = .6; private double MAX_POWER = .45;
@Override @Override
public void init() { public void init() {
claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED); claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
@ -74,22 +74,22 @@ public class DevTeleop extends OpMode {
} }
public void theDrop(ArmSubsystem arm, WristSubsystem wrist) { public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
//pick up
if (currentGamepad1.a && !previousGamepad1.a) { if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
wrist.floorWrist(); wrist.floorWrist();
arm.engageArm(); arm.engageArm();
} }
} }
public void thePickup(ClawSubsystem claw) { public void thePickup(ClawSubsystem claw) {
//claw open close
if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) { if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
claw.switchState(); claw.switchState();
} }
} }
public void theLift(ArmSubsystem arm, WristSubsystem wrist) { /* public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
if (currentGamepad1.b && !previousGamepad1.b) { if (currentGamepad1.b && !previousGamepad1.b) {
arm.parkArm(); arm.parkArm();
@ -97,17 +97,19 @@ public class DevTeleop extends OpMode {
} }
} }
*/
public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) { public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.y && !previousGamepad2.y) { //low bucket
if (currentGamepad2.a && !previousGamepad2.a) {
lift.toLowBucket(); lift.toLowBucket();
arm.bucketArm(); arm.bucketArm();
wrist.bucketWrist(); wrist.bucketWrist();
} }
} }
public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
if (currentGamepad2.a && !previousGamepad2.a) { public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
//high basket
if (currentGamepad2.b && !previousGamepad2.b) {
lift.toHighBucket(); lift.toHighBucket();
arm.bucketArm(); arm.bucketArm();
wrist.bucketWrist(); wrist.bucketWrist();
@ -115,7 +117,8 @@ public class DevTeleop extends OpMode {
} }
public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){ public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down){ //
if (currentGamepad2.dpad_right && !previousGamepad2.dpad_right){
lift.toFloor(); lift.toFloor();
arm.bucketArm(); arm.bucketArm();
wrist.floorWrist(); wrist.floorWrist();
@ -131,7 +134,7 @@ public class DevTeleop extends OpMode {
theDrop(arm, wrist); theDrop(arm, wrist);
thePickup(claw); thePickup(claw);
theLift(arm, wrist); // theLift(arm, wrist);
theLowBucketScore(lift, wrist, arm); theLowBucketScore(lift, wrist, arm);
theHighBucketScore(lift, wrist, arm); theHighBucketScore(lift, wrist, arm);
theTravel(lift, arm, wrist); theTravel(lift, arm, wrist);