SCDS/FTCRoadRunnerRobotics
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Merge remote-tracking branch 'origin/branch-swiss-cheese' into branch-swiss-cheese

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robotics1
2025-01-23 17:47:20 -08:00
parent f03515a169 7b373b7c26
commit fe44a38cdd
2 changed files with 10 additions and 16 deletions
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24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
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@ -103,31 +103,25 @@ public class CometBotAutoDevelopment {
wrist.grabBlueberrySkyhook(); wrist.grabBlueberrySkyhook();
arm.grabBlueberrySkyhook(); arm.grabBlueberrySkyhook();
} }
if(arm.getState() == ArmSubsystem.ArmState.GRAB_BLUEBERRY_SKYHOOK)
claw.init(); /*if(arm.getState() == ArmSubsystem.ArmState.GRAB_BLUEBERRY_SKYHOOK)
claw.closeClaw();*/
} }
private void hangSkyhook(){ private void hangSkyhook() {
if(currentGamepad1.right_bumper && !previousGamepad1.right_bumper){ if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
dualSlides.toHangHeight(); dualSlides.toHangHeight();
//check wrist make go throught test files again
wrist.hangBlueberrySkyhook(); wrist.hangBlueberrySkyhook();
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
arm.hangBlueberrySkyhook(); arm.hangBlueberrySkyhook();
if(arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK){ if (arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK) {
try { try {
Thread.sleep(2000); Thread.sleep(2000);
} catch (InterruptedException e) { } catch (InterruptedException e) {
throw new RuntimeException(e); throw new RuntimeException(e);
}claw.closeClaw(); }
} }
} }
}private void openClaw(){
}
private void openClaw(){
if(currentGamepad2.right_bumper && !previousGamepad2.right_bumper){ if(currentGamepad2.right_bumper && !previousGamepad2.right_bumper){
claw.switchState(); claw.switchState();
} }

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
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@ -13,7 +13,7 @@ public class RobotConstants {
public final static double armPark = 0.33; public final static double armPark = 0.33;
//value for grabbing the hook Specimen //value for grabbing the hook Specimen
public final static double grabBlueberry = 0.35; public final static double grabBlueberry = 0.35;
public final static double armGrabBlueberrySkyhook = 0.15; public final static double armGrabBlueberrySkyhook = 0.1;
public final static double wristGrabBlueberrySkyhook = 0.15; public final static double wristGrabBlueberrySkyhook = 0.15;
public final static double armHangBlueberrySkyhook = 0.23; public final static double armHangBlueberrySkyhook = 0.23;
public final static double wristHangBlueberrySkyhook = 0.7; public final static double wristHangBlueberrySkyhook = 0.7;