teleop testing

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;

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

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_X = 4.84; // X is the up and down direction
-    public static double PARALLEL_Y = -4.118; // Y is the strafe direction
+    public static double PARALLEL_Y = 3.94; // Y is the strafe direction
 
-    public static double PERPENDICULAR_X = 3.209;
+    public static double PERPENDICULAR_X = 5.10;
-    public static double PERPENDICULAR_Y = -.199;
+    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

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();
+        int PositionLeft = this.robot.getSlides().slidesLeft.getCurrentPosition();
-//        telemetry.addData("position",(Position));
+        telemetry.addData("positionLeft",(PositionLeft));
-//        telemetry.update();
+        int PositionRight = this.robot.getSlides().slidesRight.getCurrentPosition();
+        telemetry.addData("positionRight",(PositionRight));
+        telemetry.update();
 //
 //Plane
         if (plane) {

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_UP = .7;
-    public static double SLIDE_POWER_DOWN = .7;
+    public static double SLIDE_POWER_DOWN = .5;
     public static int SLIDELAYERONE = 60;
     public static int SLIDEAUTOSTACKS = 250;
     public static int SLIDEUP = 1150;