Merge branch 'master' into implementingSensorsandAutoPaths

ftc16072 · Jan 19, 2024 · af9660b · af9660b
2 parents ee8c93b + 479a112
commit af9660b
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Showing 3 changed files with 31 additions and 23 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Climber.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/Climber.java
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.Mechanisms;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
@@ -9,17 +10,27 @@
 import java.util.Arrays;
 import java.util.List;
 
+@Config
 public class Climber implements Mechanism{
     private DcMotor climberMotor;
+    public static double ClimbSpeed = 1;
     @Override
     public void init(HardwareMap hwMap) {
         climberMotor = hwMap.get(DcMotor.class,"climber_motor");
     }
-
-    @Override
     public List<QQtest> getTests() {
         return Arrays.asList(
-                new TestMotor("climber_motor",0.5,climberMotor)
-        );
+                new TestMotor("climber_motor",0.5,climberMotor));
+
+        }
+        public void Climb() {
+        climberMotor.setPower(ClimbSpeed);
     }
+
+
+
+
 }
+
+
+
diff --git a/...Code/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/OutreachDriveOnly.java b/...Code/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/OutreachDriveOnly.java
@@ -4,12 +4,11 @@
 
 @TeleOp()
 public class OutreachDriveOnly extends QQOpMode {
-    public static double OUTREACH_SPEED = .2;
+    public static final double OUTREACH_SPEED = .5;
     public static final double OUTREACH_TURBO_SPEED = .75;
     public static final double MAX_SPEED = 1.0;
     public static final double TRIGGER_THRESHOLD = 0.2;
 
-
     @Override
     public void init() {
         robot.makeDriveOnly();
@@ -19,22 +18,16 @@ public void init() {
     @Override
     public void loop() {
         double speed_multiplier = OUTREACH_SPEED;
-        if (gamepad1.right_trigger > TRIGGER_THRESHOLD) {
+        if(gamepad1.right_trigger > TRIGGER_THRESHOLD){
             speed_multiplier = OUTREACH_TURBO_SPEED;
-
-        }
-        if (gamepad1.right_bumper && gamepad1.left_bumper) {
-            speed_multiplier = MAX_SPEED;
+            if(gamepad1.right_bumper && gamepad1.left_bumper){
+                speed_multiplier = MAX_SPEED;
+            }
         }
-        if (gamepad2.a) {
-            robot.nav.fieldRelative(speed_multiplier * 0, speed_multiplier * 0, speed_multiplier * 0);
-        } else {
 
-
-            robot.nav.fieldRelative(speed_multiplier * -gamepad1.left_stick_y,
-                    speed_multiplier * gamepad1.left_stick_x,
-                    speed_multiplier * gamepad1.right_stick_x);
-        }
+        robot.nav.fieldRelative(speed_multiplier * -gamepad1.left_stick_y,
+                speed_multiplier * gamepad1.left_stick_x,
+                speed_multiplier * gamepad1.right_stick_x);
     }
 }
 //Left Bumper for Turbo

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java
@@ -4,6 +4,7 @@
 
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Arm;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Camera;
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Climber;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.ControlHub;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.HoldingCell;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
@@ -32,6 +33,7 @@ public class Robot {
     public Lift lift;
     public Arm arm;
     public Placement placement;
+    public Climber climber;
 
 
 
@@ -47,19 +49,21 @@ public Robot() {
         lift = new Lift();
         arm = new Arm();
         placement = new Placement();
+        climber = new Climber();
 
 
         mechanisms = Arrays.asList(
                 mecanumDrive,
                 controlHub,
-                //intake,
+                intake,
                 cameraBack,
                 cameraFront,
-                // holdingCell,
+                holdingCell,
                 lift,
                 arm,
-                placement
-                // lineDetector
+                placement,
+                 lineDetector,
+                climber
         );
     }