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fix intake and added to auto

This commit is contained in:
Justin 2024-01-10 12:29:00 -06:00
parent 556271ef3a
commit a3800ee616
4 changed files with 15 additions and 3 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
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@ -30,7 +30,7 @@ public class Intake {
} }
//Position //Position
public static double stack1 = 0; public static double stack1 = 0.02;
public static double stack2 = 0.03; public static double stack2 = 0.03;
public static double stack3 = 0.06; public static double stack3 = 0.06;
public static double stack4 = 0.09; public static double stack4 = 0.09;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Slides.java
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@ -27,7 +27,7 @@ public class Slides {
public static int mini_tier1 = 155; public static int mini_tier1 = 155;
public static int tier1 = 350; public static int tier1 = 350;
public static int tier2 = 500; public static int tier2 = 500;
public static int tier3 = 760; public static int tier3 = 720;
private int target = 0; private int target = 0;

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/RedBackStageAuto.java
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@ -107,6 +107,7 @@ public class RedBackStageAuto extends AutoBase {
break; break;
// EXTEND AND MOVE TO BACKBOARD // EXTEND AND MOVE TO BACKBOARD
case 3: case 3:
// extend macro // extend macro
if (robot.macroState != 0) { if (robot.macroState != 0) {
robot.extendMacro(Slides.mini_tier1, getRuntime()); robot.extendMacro(Slides.mini_tier1, getRuntime());
@ -160,6 +161,17 @@ public class RedBackStageAuto extends AutoBase {
} }
break; break;
case 9: case 9:
// extend macro
if (robot.macroState != 0) {
robot.extendMacro(Slides.mini_tier1, getRuntime());
}
// if macro and drive are done, move on
if (robot.macroState == 0 && !robot.drive.isBusy()) {
robot.resetMacro(0, getRuntime());
macroState++;
}
break;
case 10:
macroState = -1; macroState = -1;
// PARK ROBOT // PARK ROBOT
// case 6: // case 6:

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/MainTeleOp.java
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@ -19,7 +19,7 @@ public class MainTeleOp extends OpMode {
public static double normal = 0.5; public static double normal = 0.5;
public static double turbo = 1; public static double turbo = 1;
public static double slow_mode = 0.15; public static double slow_mode = 0.15;
public static double intakeMax = 0.65; public static double intakeMax = 0.5;
public static double intakeMax2 = -0.65; public static double intakeMax2 = -0.65;
private Robot robot; private Robot robot;