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Recreated SampleCode branch because previous branch was messed up.

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Titan Robotics Club
2025-05-02 16:48:02 -07:00
parent 83ba712462
commit 0a62370ac3
11 changed files with 1652 additions and 0 deletions
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58
TeamCode/src/main/java/teamcode/Robot.java
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@ -29,10 +29,18 @@ import ftclib.driverio.FtcDashboard;
import ftclib.driverio.FtcMatchInfo;
import ftclib.robotcore.FtcOpMode;
import ftclib.sensor.FtcRobotBattery;
import teamcode.subsystems.Arm;
import teamcode.subsystems.Claw;
import teamcode.subsystems.DiffyServoWrist;
import teamcode.subsystems.Elevator;
import teamcode.subsystems.Intake;
import teamcode.subsystems.LEDIndicator;
import teamcode.subsystems.RobotBase;
import teamcode.subsystems.RumbleIndicator;
import teamcode.subsystems.ServoWrist;
import teamcode.subsystems.Shooter;
import teamcode.vision.Vision;
import trclib.dataprocessor.TrcDiscreteValue;
import trclib.motor.TrcMotor;
import trclib.motor.TrcServo;
import trclib.pathdrive.TrcPose2D;
@ -40,7 +48,11 @@ import trclib.robotcore.TrcDbgTrace;
import trclib.robotcore.TrcEvent;
import trclib.robotcore.TrcRobot;
import trclib.sensor.TrcDigitalInput;
import trclib.subsystem.TrcIntake;
import trclib.subsystem.TrcServoClaw;
import trclib.subsystem.TrcShooter;
import trclib.subsystem.TrcSubsystem;
import trclib.timer.TrcTimer;
/**
* This class creates the robot object that consists of sensors, indicators, drive base and all the subsystems.
@ -66,6 +78,14 @@ public class Robot
public RumbleIndicator operatorRumble;
public FtcRobotBattery battery;
// Subsystems.
public TrcMotor elevator;
public TrcMotor arm;
public TrcShooter shooter;
public TrcDiscreteValue shooterVelocity;
public TrcIntake intake;
public TrcServoClaw claw;
public TrcServo servoWrist;
public DiffyServoWrist diffyServoWrist;
// Autotasks.
/**
@ -114,7 +134,45 @@ public class Robot
if (RobotParams.Preferences.useSubsystems)
{
// Create subsystems.
if (RobotParams.Preferences.useElevator)
{
elevator = new Elevator().getMotor();
}
if (RobotParams.Preferences.useArm)
{
arm = new Arm().getMotor();
}
if (RobotParams.Preferences.useShooter)
{
shooter = new Shooter().getShooter();
shooterVelocity = new TrcDiscreteValue(
Shooter.Params.SUBSYSTEM_NAME + ".motorVel",
Shooter.Params.SHOOTER_MIN_VEL, Shooter.Params.SHOOTER_MAX_VEL,
Shooter.Params.SHOOTER_MIN_VEL_INC, Shooter.Params.SHOOTER_MAX_VEL_INC,
Shooter.Params.SHOOTER_DEF_VEL, Shooter.Params.SHOOTER_DEF_VEL_INC);
}
if (RobotParams.Preferences.useIntake)
{
intake = new Intake().getIntake();
}
if (RobotParams.Preferences.useClaw)
{
claw = new Claw().getClaw();
}
if (RobotParams.Preferences.useServoWrist)
{
servoWrist = new ServoWrist().getServo();
}
if (RobotParams.Preferences.useDiffyServoWrist)
{
diffyServoWrist = new DiffyServoWrist();
}
// Zero calibrate all subsystems only in Auto or if TeleOp is run standalone without prior Auto.
// There is no reason to zero calibrate again if Auto was run right before TeleOp.
if (runMode == TrcRobot.RunMode.AUTO_MODE || FtcAuto.autoChoices.alliance == null)