From aba3c58fd48299486f40ae54d60d0d88b31e59de Mon Sep 17 00:00:00 2001 From: ImposterVarunoverlord Date: Thu, 21 Mar 2024 17:12:54 -0500 Subject: [PATCH] sus 2+1 --- .../ftc/teamcode/hardware/Arm.java | 1 + .../ftc/teamcode/opmode/teleop/RedTeleop.java | 24 +++++++++---------- 2 files changed, 13 insertions(+), 12 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java index f0427d1..c8e1b06 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java @@ -166,5 +166,6 @@ public class Arm { doorServo.setPosition(doorPos); wristServo.setPosition(wristPos); + elbow.setPosition(elbowPos); } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/RedTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/RedTeleop.java index e6b4620..00d7a23 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/RedTeleop.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/RedTeleop.java @@ -189,21 +189,21 @@ public class RedTeleop extends OpMode { robot.slides.increaseTarget(controller2.getLeftStick().getY()); - if (robot.intake.getPower() >= 0.01) { - robot.arm.setDoor(OPEN); - } else if (robot.intake.getPower() <= -0.01) { - robot.arm.setDoor(OPEN); - } else if (controller2.getLeftBumper().isPressed()) { - robot.arm.setDoor(Arm.DoorPosition.OPEN); - } else { - robot.arm.setDoor(CLOSE); - } +// if (robot.intake.getPower() >= 0.01) { +// robot.arm.setDoor(OPEN); +// } else if (robot.intake.getPower() <= -0.01) { +// robot.arm.setDoor(OPEN); +// } else if (controller2.getLeftBumper().isPressed()) { +// robot.arm.setDoor(Arm.DoorPosition.OPEN); +// } else { +// robot.arm.setDoor(CLOSE); +// } //Elbowpos - if (controller2.getDRight().isPressed()){ + if (controller2.getDRight().isJustPressed()){ robot.arm.setElbowPos(4); - } else if (controller2.getDLeft().isPressed()) { + } else if (controller2.getDLeft().isJustPressed()) { robot.arm.setElbowPos(3); - }else { + }else if(controller2.getDUp().isJustPressed()) { robot.arm.setElbowPos(1); }