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Updated trclib, ftclib.

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Added code to zeroCalibrate, cancelAll and added turtle.
This commit is contained in:
Titan Robotics Club
2025-05-01 23:34:17 -07:00
parent 476888be38
commit 8afae1205f
4 changed files with 26 additions and 5 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 6358a7e46b...8f2ae308ba

14
TeamCode/src/main/java/teamcode/FtcTeleOp.java
View File

@ -326,10 +326,18 @@ public class FtcTeleOp extends FtcOpMode
break; break;
case Y: case Y:
if (driverAltFunc && pressed) if (pressed)
{ {
robot.globalTracer.traceInfo(moduleName, ">>>>> Cancel all."); if (driverAltFunc)
robot.cancelAll(); {
robot.globalTracer.traceInfo(moduleName, ">>>>> Cancel all.");
robot.cancelAll();
}
else
{
robot.globalTracer.traceInfo(moduleName, ">>>>> Turtle mode.");
robot.turtle();
}
} }
break; break;

13
TeamCode/src/main/java/teamcode/Robot.java
View File

@ -40,6 +40,7 @@ import trclib.robotcore.TrcDbgTrace;
import trclib.robotcore.TrcEvent; import trclib.robotcore.TrcEvent;
import trclib.robotcore.TrcRobot; import trclib.robotcore.TrcRobot;
import trclib.sensor.TrcDigitalInput; import trclib.sensor.TrcDigitalInput;
import trclib.subsystem.TrcSubsystem;
import trclib.timer.TrcTimer; import trclib.timer.TrcTimer;
/** /**
@ -280,6 +281,7 @@ public class Robot
globalTracer.traceInfo(moduleName, "Cancel all operations."); globalTracer.traceInfo(moduleName, "Cancel all operations.");
// Cancel subsystems. // Cancel subsystems.
if (robotDrive != null) robotDrive.cancel(); if (robotDrive != null) robotDrive.cancel();
TrcSubsystem.cancelAll();
// Cancel auto tasks. // Cancel auto tasks.
} //cancelAll } //cancelAll
@ -291,8 +293,19 @@ public class Robot
*/ */
public void zeroCalibrate(String owner, TrcEvent event) public void zeroCalibrate(String owner, TrcEvent event)
{ {
globalTracer.traceInfo(moduleName, "Zero calibrate all subsystems.");
TrcSubsystem.zeroCalibrateAll(owner, event);
} //zeroCalibrate } //zeroCalibrate
/**
* This method retracts all appendages for robot high speed travelling.
*/
public void turtle()
{
globalTracer.traceInfo(moduleName, "Turtle mode.");
TrcSubsystem.resetStateAll();
} //turtle
/** /**
* This method sets the robot's starting position according to the autonomous choices. * This method sets the robot's starting position according to the autonomous choices.
* *

2
TeamCode/src/main/java/trclib

Submodule TeamCode/src/main/java/trclib updated: 1d053febdd...fa7d1591a2