commit 1
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DanTheMan-byte
@@ -1,26 +0,0 @@
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package org.firstinspires.ftc.teamcode.constants;
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import com.acmerobotics.dashboard.config.Config;
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@Config
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public class ServoVars {
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//Standard Naming Convention: servoName_VarInSentenceCase
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public static double turret_Range = 355; //In Degrees
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public static double turret_GearRatio = 0.9974;
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public static double rejecter_Out = 1.0;
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public static double rejecter_In = 0.0;
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public static double ballUpServo_On = 1.0;
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public static double ballUpServo_Off = 0.0;
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public static double spindex_Pos1 = 0.0;
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public static double spindex_Pos2 = 0.5;
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public static double spindex_Pos3 = 1.0;
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public static double spindex_IntakeColor = 0.25;
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public static double spindex_BackupColor = 0.3;
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}
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@@ -42,8 +42,9 @@ public class Intake implements Subsystem {
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}
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}
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public void setIntakePower(double pow){
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intakePower = pow;
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public void intakeMinPower(){
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intakePower = 0.5;
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intakeState = 1;
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}
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public void intake(){
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@@ -1,172 +0,0 @@
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package org.firstinspires.ftc.teamcode.subsystems;
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import static org.firstinspires.ftc.teamcode.constants.ServoVars.*;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.hardware.DigitalChannel;
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import com.qualcomm.robotcore.hardware.Servo;
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import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import java.util.Objects;
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public class Spindex implements Subsystem{
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public MultipleTelemetry telemetry;
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private final DcMotorEx ballUpMotor;
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private final Servo ballUpServo;
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private final Servo spindex1;
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private final Servo spindex2;
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private final DigitalChannel color1Green;
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private final DigitalChannel color1Purple;
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private final DigitalChannel color2Green;
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private final DigitalChannel color2Purple;
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private final DigitalChannel color3Green;
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private final DigitalChannel color3Purple;
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private double ballUpMotorPower = 0.0;
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private double ballUpServoPos = 0.0;
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private double manualSpindexPos = 0.0;
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private double autoSpindexPos = 0.0;
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public String spindexMode = "MANUAL";
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private boolean telemetryOn = false;
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public Spindex (Robot robot, MultipleTelemetry TELE){
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this.ballUpMotor = robot.ballUpMotor;
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this.ballUpServo = robot.ballUpServo;
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this.spindex1 = robot.spindex1;
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this.spindex2 = robot.spindex2;
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this.color1Green = robot.color1Green;
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this.color1Purple = robot.color1Purple;
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this.color2Green = robot.color2Green;
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this.color2Purple = robot.color2Purple;
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this.color3Green = robot.color3Green;
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this.color3Purple = robot.color3Purple;
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this.telemetry = TELE;
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}
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public String getSpindexMode(){return spindexMode;}
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public void telemetryUpdate() {
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String color1 = "";
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String color2 = "";
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String color3 = "";
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// Telemetry
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if(this.color1Green.getState()){
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color1 = "green";
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} else if (this.color1Purple.getState()){
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color1 = "purple";
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}
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if(this.color2Green.getState()){
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color2 = "green";
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} else if (this.color2Purple.getState()){
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color2 = "purple";
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}
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if(this.color3Green.getState()){
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color3 = "green";
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} else if (this.color3Purple.getState()){
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color3 = "purple";
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}
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telemetry.addData("Color 1", color1);
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telemetry.addData("Color2", color2);
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telemetry.addData("Color3", color3);
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}
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public void setballUpMotorPower (double pow){
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this.ballUpMotorPower = pow;
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}
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public double getballUpMotorPower (){
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return this.ballUpMotorPower;
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}
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public void ballUpOn(){
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this.ballUpServoPos = ballUpServo_On;
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}
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public void ballUpOff(){
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this.ballUpServoPos = ballUpServo_Off;
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}
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//Manual spindex:
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public void spindexPos1(){
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this.manualSpindexPos = spindex_Pos1;
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}
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public void spindexPos2(){
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this.manualSpindexPos = spindex_Pos2;
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}
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public void spindexPos3(){
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this.manualSpindexPos = spindex_Pos3;
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}
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public void spindexIntakeColorPos(){
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this.manualSpindexPos = spindex_IntakeColor;
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}
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public void spindexColorBackupPos(){
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this.manualSpindexPos = spindex_BackupColor;
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}
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//Automatic spindex (adjust position based on coloring):
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public void spindexGreen(){
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if (this.color1Green.getState()){
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this.autoSpindexPos = spindex_Pos1;
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} else if (this.color2Green.getState()){
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this.autoSpindexPos = spindex_Pos2;
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} else if (this.color3Green.getState()){
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this.autoSpindexPos = spindex_Pos3;
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} else {
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this.autoSpindexPos = spindex_IntakeColor;
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}
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}
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public void spindexPurple(){
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if (this.color1Purple.getState()){
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this.autoSpindexPos = spindex_Pos1;
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} else if (this.color2Purple.getState()){
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this.autoSpindexPos = spindex_Pos2;
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} else if (this.color3Purple.getState()){
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this.autoSpindexPos = spindex_Pos3;
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} else {
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this.autoSpindexPos = spindex_IntakeColor;
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}
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}
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@Override
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public void update() {
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if (Objects.equals(spindexMode, "MANUAL")){
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spindex1.setPosition(manualSpindexPos);
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spindex2.setPosition(1-manualSpindexPos);
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} else if (Objects.equals(spindexMode, "AUTO")){
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spindex1.setPosition(autoSpindexPos);
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spindex2.setPosition(1-autoSpindexPos);
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}
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ballUpServo.setPosition(ballUpServoPos);
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ballUpMotor.setPower(ballUpMotorPower);
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telemetryUpdate();
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}
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}
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@@ -1,5 +1,7 @@
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package org.firstinspires.ftc.teamcode.subsystems;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import com.qualcomm.robotcore.hardware.DcMotorEx;
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import com.qualcomm.robotcore.hardware.Servo;
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@@ -23,12 +25,20 @@ public class Transfer implements Subsystem{
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}
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public void setTransferPosition(double pos){
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this.servoPos = pos;
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public void setTransferPositionOn(){
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this.servoPos = transferServo_in;
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}
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public void setTransferPower (double pow){
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this.motorPow = pow;
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public void setTransferPositionOff(){
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this.servoPos = transferServo_out;
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}
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public void setTransferPowerOn (){
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this.motorPow = -1;
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}
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public void setTransferPowerOff (){
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this.motorPow = 0;
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}
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@@ -58,6 +58,8 @@ public class TeleopV1 extends LinearOpMode {
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public static int spindexerPos = 0;
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public double time = 0.0;
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@Override
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@@ -109,6 +111,8 @@ public class TeleopV1 extends LinearOpMode {
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spindexer.setTelemetryOn(true);
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time = getRuntime();
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waitForStart();
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@@ -122,11 +126,6 @@ public class TeleopV1 extends LinearOpMode {
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TELE.update();
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transfer.setTransferPower(power);
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transfer.setTransferPosition(pos);
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transfer.update();
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@@ -176,14 +175,17 @@ public class TeleopV1 extends LinearOpMode {
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if (g2Circle.wasJustPressed()){
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intake.intakeMinPower();
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spindexer.outtake3();
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}
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if (g2Triangle.wasJustPressed()){
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intake.intakeMinPower();
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spindexer.outtake2();
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}
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if (g2Square.wasJustPressed()){
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intake.intakeMinPower();
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spindexer.outtake1();
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}
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