Merge pull request #43 from ftc16072/armControl

Arm control

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Lift.java

@@ -26,6 +26,7 @@ public void setManipulatorPosition(LiftPositions manipulatorPosition) {
 
 
 
+
     public enum LiftPositions{
         FLOOR_POSITION,
         LOW_POSITION,

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java

@@ -51,14 +51,14 @@ public Robot() {
 
         mechanisms = Arrays.asList(
                 mecanumDrive,
-                controlHub,
-                intake,
+                controlHub
+                //intake,
                 //cameraBack,
                 //cameraFront,
                 //holdingCell,
-                lift,
-                arm,
-                placement
+                //lift,
+                //arm,
+                //placement
                 // lineDetector
         );
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/ArmControl.java

@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.ftc16072.Util;
+
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Arm;
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
+import org.firstinspires.ftc.teamcode.ftc16072.Robot;
+
+public class ArmControl {
+    Arm arm;
+    Lift lift;
+   public int safePosition; //TODO
+    public ArmControl (Robot robot){ //TODO  call this function in QQOpmode
+        arm = robot.arm;
+        lift = robot.lift;
+    }
+    public void updateArm (){
+        if (lift.currentPosition() > safePosition){
+            arm.goToPlacingPosition();
+        } else{
+            arm.goToIntakePosition();
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Util/LiftControl.java

@@ -3,7 +3,7 @@
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.Robot;
 
-public class LiftControl {
+public class  LiftControl {
     Lift.LiftPositions manipulatorPosition;
     Lift lift;