diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java index c557c2c..7bd108a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java @@ -34,6 +34,7 @@ import static org.firstinspires.ftc.teamcode.util.Constants.SLIDERIGHT; import static org.firstinspires.ftc.teamcode.util.Constants.WRIST; import com.acmerobotics.dashboard.config.Config; +import com.arcrobotics.ftclib.controller.PController; import com.arcrobotics.ftclib.gamepad.GamepadEx; import com.arcrobotics.ftclib.gamepad.GamepadKeys; import com.qualcomm.hardware.rev.RevBlinkinLedDriver; @@ -84,7 +85,7 @@ public class Robot { } public static class Slides { - private DcMotor slidesRight = null; + public DcMotor slidesRight = null; public DcMotor slidesLeft = null; public Slides init(HardwareMap hardwareMap) { @@ -92,8 +93,8 @@ public class Robot { this.slidesRight = hardwareMap.get(DcMotor.class, SLIDERIGHT); this.slidesLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); this.slidesRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); - this.slidesRight.setTargetPosition(0); this.slidesLeft.setTargetPosition(0); + this.slidesRight.setTargetPosition(0); this.slidesRight.setMode(DcMotor.RunMode.RUN_TO_POSITION); this.slidesLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION); @@ -195,6 +196,7 @@ public class Robot { public static class Arm { private Servo leftArm; private Servo rightArm; + private PController armController; public Arm init(HardwareMap hardwareMap) { @@ -336,7 +338,7 @@ public class Robot { } break; case OPEN: - delay = runtime + .2; + delay = runtime + .3; this.getClaw().open(); pickupMacroState = pickupMacroStates.DROP; break; @@ -350,7 +352,7 @@ public class Robot { case CLOSE: if (runtime > delay) { this.getClaw().close(); - delay= runtime + .1; + delay= runtime + .3; pickupMacroState = pickupMacroStates.NEUTRAL; } break; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java index 629a458..b7ead0d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java @@ -45,7 +45,7 @@ public class DriveConstants { * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO. */ public static double WHEEL_RADIUS = 1.88976; // in - public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed + public static double GEAR_RATIO = 16f/24f; // output (wheel) speed / input (motor) speed public static double TRACK_WIDTH = 12.438; // in // public static double WHEEL_RADIUS = 1.88976; // in diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java index f62a1f0..6d639f8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java @@ -38,11 +38,11 @@ public class TwoWheelTrackingLocalizer extends TwoTrackingWheelLocalizer { public static double WHEEL_RADIUS = 0.944882; // in public static double GEAR_RATIO = 1; // output (wheel) speed / input (encoder) speed - public static double PARALLEL_X = 129.5; // X is the up and down direction - public static double PARALLEL_Y = -4.118; // Y is the strafe direction + public static double PARALLEL_X = 4.84; // X is the up and down direction + public static double PARALLEL_Y = 3.94; // Y is the strafe direction - public static double PERPENDICULAR_X = 3.209; - public static double PERPENDICULAR_Y = -.199; + public static double PERPENDICULAR_X = 5.10; + public static double PERPENDICULAR_Y = 0.20; public static double X_MULTIPLIER = 1; // Multiplier in the X direction public static double Y_MULTIPLIER = 1; // Multiplier in the Y direction diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java index 54c0958..97fb534 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MainTeleOp.java @@ -6,6 +6,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode; import org.firstinspires.ftc.teamcode.hardware.Robot; import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.util.Configurables; @com.qualcomm.robotcore.eventloop.opmode.TeleOp(name = "Main TeleOp", group = "Development") public class MainTeleOp extends OpMode { @@ -43,6 +44,11 @@ public class MainTeleOp extends OpMode { || controller2.wasJustReleased(GamepadKeys.Button.DPAD_LEFT)) { this.robot.getSlides().slideStop(); } + if (gamepad2.left_trigger > .5){ + Configurables.SLIDE_POWER_UP = .3; + } else { + Configurables.SLIDE_POWER_UP = .7; + } ////Macros this.robot.pickupMacro(controller2, getRuntime()); //DPADDOWN // @@ -71,9 +77,11 @@ public class MainTeleOp extends OpMode { this.robot.getHang().hangPlane(); } -// int Position = this.robot.getHang().hangRight.getCurrentPosition(); -// telemetry.addData("position",(Position)); -// telemetry.update(); + int PositionLeft = this.robot.getSlides().slidesLeft.getCurrentPosition(); + telemetry.addData("positionLeft",(PositionLeft)); + int PositionRight = this.robot.getSlides().slidesRight.getCurrentPosition(); + telemetry.addData("positionRight",(PositionRight)); + telemetry.update(); // //Plane if (plane) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java index 8eaacb1..c5f5dc7 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java @@ -18,10 +18,10 @@ public class Configurables { public static double ARMSCORE = 0.4; public static double ARMACCSCORE = .57; public static double ARMPICKUPSTACK = 0.815; - public static double PICKUP = 0.835; + public static double PICKUP = 0.94; public static double WRISTPICKUP = 0.3; public static double WRISTSCORE = .98; - public static double OPEN = 0.483; + public static double OPEN = 0.481; public static double BIGOPEN = 0.65; public static double CLOSE = .51; public static double PLANELOCK = 0.1; @@ -34,8 +34,8 @@ public class Configurables { public static double SLOWMODE_TURN = 0.3; //Motor Positions - public static double SLIDE_POWER_UP = 1; - public static double SLIDE_POWER_DOWN = .7; + public static double SLIDE_POWER_UP = .7; + public static double SLIDE_POWER_DOWN = .5; public static int SLIDELAYERONE = 60; public static int SLIDEAUTOSTACKS = 250; public static int SLIDEUP = 1150;