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Buttons assigned

This commit is contained in:
Scott Barnes 2023-11-04 12:39:16 -05:00
parent c4b62d9a98
commit 08d57fccff
3 changed files with 27 additions and 19 deletions
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37
TeamCode/src/main/java/opmodes/MainTeleOp.java
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@ -2,6 +2,7 @@ package opmodes;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.CLAW_ARM_DELTA;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_LIFT_DELTA;
import static org.firstinspires.ftc.teamcode.hardware.RobotConstants.GANTRY_X_DELTA;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@ -17,7 +18,6 @@ public class MainTeleOp extends OpMode {
private boolean screwArmPos = false;
private boolean previousScrewArmToggle = false;
private boolean previousScrewDeposit = false;
private boolean previousScrewIntake = false;
private boolean previousScrewReset = false;
private boolean previousSlideUp = false;
private boolean previousSlideDown = false;
@ -38,11 +38,23 @@ public class MainTeleOp extends OpMode {
double z = gamepad1.right_stick_x;
this.robot.getDrive().setInput(x, y, z);
// Button Mappings
boolean openClaw = gamepad2.b; // B
boolean clawUp = gamepad2.y; // Y
boolean clawDown = gamepad2.a; // A
boolean raiseRobotLift = gamepad2.right_trigger > 0.25; // RT
boolean liftRobot = gamepad2.right_bumper; // RB
boolean screwArmToggle = gamepad2.x; // X
boolean screwDeposit = gamepad2.left_trigger > 0.25; // LT
boolean screwReset = gamepad2.left_bumper; // LB
boolean slideUp = gamepad2.left_stick_y < -0.25; // Left Y Axis Joystick
boolean slideDown = gamepad2.left_stick_y > 0.25; // Left Y Axis Joystick
boolean gantryLeft = gamepad2.dpad_left; // dpad left
boolean gantryRight = gamepad2.dpad_right; // dpad right
// Claw
boolean openClaw = false;
boolean clawUp = false;
boolean clawDown = false;
if (openClaw) {
this.robot.getClaw().open();
} else {
@ -57,8 +69,6 @@ public class MainTeleOp extends OpMode {
}
// Robot Lift
boolean raiseRobotLift = false;
boolean liftRobot = false;
if (raiseRobotLift) {
this.robot.getLift().raise();
} else if (liftRobot) {
@ -66,12 +76,6 @@ public class MainTeleOp extends OpMode {
}
// Gantry
boolean screwArmToggle = false;
boolean screwDeposit = false;
boolean screwIntake = false;
boolean screwReset = false;
boolean slideUp = false;
boolean slideDown = false;
if (!previousScrewArmToggle && screwArmToggle) {
if (screwArmPos) {
this.robot.getGantry().armOut();
@ -82,8 +86,6 @@ public class MainTeleOp extends OpMode {
}
if (!previousScrewDeposit && screwDeposit) {
this.robot.getGantry().deposit();
} else if (!previousScrewIntake && screwIntake) {
this.robot.getGantry().intake();
} else if (!previousScrewReset && screwReset) {
this.robot.getGantry().resetScrew();
}
@ -91,11 +93,16 @@ public class MainTeleOp extends OpMode {
int currentPosition = this.robot.getGantry().getSlidePosition();
this.robot.getGantry().setTarget(currentPosition + GANTRY_LIFT_DELTA);
}
if (gantryLeft) {
this.robot.getGantry().setX(this.robot.getGantry().getX() + GANTRY_X_DELTA);
} else if (gantryRight) {
this.robot.getGantry().setX(this.robot.getGantry().getX() - GANTRY_X_DELTA);
}
this.previousSlideUp = slideUp;
this.previousScrewArmToggle = screwArmToggle;
this.previousScrewDeposit = screwDeposit;
this.previousScrewIntake = screwIntake;
this.previousScrewReset = screwReset;
}
}

8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java
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@ -28,6 +28,10 @@ public class Gantry extends Slide {
this.xServo.setPosition(x);
}
public double getX() {
return this.xServo.getPosition();
}
public void armOut() {
this.armServo.setPosition(GANTRY_ARM_MAX);
}
@ -41,10 +45,6 @@ public class Gantry extends Slide {
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[currentScrewIndex]);
}
public void intake() {
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[this.currentScrewIndex++]);
}
public void deposit() {
this.screwServo.setPosition(GANTRY_SCREW_POSITIONS[this.currentScrewIndex--]);
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConstants.java
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@ -29,6 +29,7 @@ public class RobotConstants {
public static double GANTRY_ARM_MAX = 0;
public static double[] GANTRY_SCREW_POSITIONS = new double[] { 0, 0.1, 0.2, 1.0 };
public static int GANTRY_LIFT_DELTA = 50;
public static double GANTRY_X_DELTA = 0.01;
public static double GANTRY_CENTER = 0.5;
// Robot Lift