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Add drone launcher

This commit is contained in:
Scott Barnes 2023-12-01 20:39:55 -06:00
parent 0fc58a36e8
commit 59fed0a5f7
4 changed files with 36 additions and 1 deletions
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25
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/DroneLauncher.java Normal file
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@ -0,0 +1,25 @@
package org.firstinspires.ftc.teamcode.hardware;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.util.Constants;
public class DroneLauncher {
private Servo servo;
public static double initPos = 0;
public static double launchPos = 0.5;
public DroneLauncher(HardwareMap hardwareMap) {
this.servo = hardwareMap.get(Servo.class, Constants.droneLauncher);
this.servo.setPosition(initPos);
}
public void launch() {
this.servo.setPosition(launchPos);
}
public void reset() {
this.servo.setPosition(initPos);
}
}

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java
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@ -20,6 +20,7 @@ public class Robot {
public Intake intake;
public Slides slides;
public Arm arm;
public DroneLauncher droneLauncher;
public double macroStartTime = 0;
public int macroState = 0;
public int runningMacro = 0; // 0 = no macro | 1 = tier 1 | 2 = tier 2 | 3 = tier 3 | 4 = return
@ -35,6 +36,7 @@ public class Robot {
intake = new Intake(hardwareMap, UP);
slides = new Slides(hardwareMap);
arm = new Arm(hardwareMap);
droneLauncher = new DroneLauncher(hardwareMap);
camEnabled = true;
}

9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/NewTeleop.java
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@ -43,7 +43,7 @@ public class NewTeleop extends OpMode {
double y = -gamepad1.left_stick_x;
double z = -gamepad1.right_stick_x;
if (controller1.getA().isPressed()) {
if (controller1.getRightTrigger().getValue() > 0.1) {
x *= turbo;
y *= turbo;
z *= turbo;
@ -63,6 +63,13 @@ public class NewTeleop extends OpMode {
robot.intake.decrementPos();
}
// Drone launcher
if (controller1.getA().isPressed()) {
this.robot.droneLauncher.launch();
} else {
this.robot.droneLauncher.reset();
}
// macros
switch (robot.runningMacro) {
case (0): // manual mode

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Constants.java
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@ -55,4 +55,5 @@ public class Constants {
public static final String IMU_SENSOR = "imu";
public static final String lServo = "lServo";
public static final String rServo = "rServo";
public static final String droneLauncher = "droneLauncher";
}