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Claw, Gantry, and Lift

This commit is contained in:
Thomas 2023-11-28 18:22:28 -06:00
parent cd9bf1f3f0
commit a4ee7223c3
3 changed files with 14 additions and 4 deletions
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4
TeamCode/src/main/java/opmodes/MainTeleOp.java
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@ -50,7 +50,7 @@ public class MainTeleOp extends OpMode {
boolean clawDown = gamepad2.a || clawDownSafe; // A boolean clawDown = gamepad2.a || clawDownSafe; // A
// Robot Drone Launch // Robot Drone Launch
boolean robotDroneLaunch = gamepad1.right_bumper; // Change if Merck wants (RT) boolean robotDroneLaunch = gamepad1.left_bumper; // Change if Merck wants (LT)
// Robot Lift // Robot Lift
boolean robotLiftRotation = gamepad2.right_trigger > 0.05; // RT boolean robotLiftRotation = gamepad2.right_trigger > 0.05; // RT
@ -121,6 +121,8 @@ public class MainTeleOp extends OpMode {
if (robotDroneLaunch) { if (robotDroneLaunch) {
this.robot.getDrone().raise(); this.robot.getDrone().raise();
} else {
this.robot.getDrone().reset();
} }
// Robot Lift // Robot Lift

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drone.java
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@ -1,6 +1,8 @@
package org.firstinspires.ftc.teamcode.hardware; package org.firstinspires.ftc.teamcode.hardware;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_LAUNCH_POS;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_ROTATION_UP_NAME; import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_ROTATION_UP_NAME;
import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_STOW_POS;
import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.Servo;
@ -14,7 +16,11 @@ public class Drone {
} }
public void raise() { public void raise() {
this.droneLaunchServo.setPosition(0.2); this.droneLaunchServo.setPosition(DRONE_LAUNCH_POS);
}
public void reset() {
this.droneLaunchServo.setPosition(DRONE_STOW_POS);
}
} }
}

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
View File

@ -16,7 +16,7 @@ public class RobotConfig {
public static final String GANTRY_X_NAME = "gantry_x"; public static final String GANTRY_X_NAME = "gantry_x";
public static final String GANTRY_ARM_NAME = "gantryArm"; public static final String GANTRY_ARM_NAME = "gantryArm";
public static final String GANTRY_SCREW_NAME = "screw"; public static final String GANTRY_SCREW_NAME = "screw";
public static final String DRONE_ROTATION_UP_NAME = "droneUp"; public static final String DRONE_ROTATION_UP_NAME = "droneLaunch";
public static final String ROBOT_LIFT_ROTATION_NAME = "liftRotation"; public static final String ROBOT_LIFT_ROTATION_NAME = "liftRotation";
public static final String ROBOT_LIFT_LIFT_NAME = "liftLift"; public static final String ROBOT_LIFT_LIFT_NAME = "liftLift";
public static final String WEBCAM_NAME = "webcam"; public static final String WEBCAM_NAME = "webcam";
@ -53,6 +53,8 @@ public class RobotConfig {
// Robot Drone Launch // Robot Drone Launch
public static double DRONE_ROTATION_UP = 0.2; public static double DRONE_ROTATION_UP = 0.2;
public static double DRONE_LAUNCH_POS = 0.3;
public static double DRONE_STOW_POS = 0.2;
// Robot Lift // Robot Lift
public static double LIFT_ROTATION_UP = 0.4; public static double LIFT_ROTATION_UP = 0.4;