Merge remote-tracking branch 'origin/Auto' into Auto

# Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java
ftc16072 · Jan 27, 2024 · b2a1f51 · b2a1f51
2 parents 5d4cbe6 + bd0a056
commit b2a1f51
Showing 1 changed file with 20 additions and 32 deletions.
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
@@ -4,16 +4,15 @@
 
 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;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Intake;
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.MecanumDrive;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Mechanism;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Placement;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.Navigation;
-import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Intake;
 
 import java.util.Arrays;
 import java.util.List;
@@ -23,43 +22,36 @@ public class Robot {
     public MecanumDrive mecanumDrive;
     public Navigation nav;
     public ControlHub controlHub;
-    //public LineDetector lineDetector;
     public Intake intake;
-
-    public HoldingCell holdingCell;
-    public Camera cameraFront;
     public Camera cameraBack;
-    public Lift lift;
-    public Arm arm;
-    public Placement placement;
-    public Climber climber;
-
+    public Camera cameraFront;
+    public HoldingCell holdingCell;
 
+    public Placement placement;
 
+    public Arm arm;
+    public Lift lift;
     public Robot() {
-        //cameraFront = new Camera(Camera.CameraPosition.FRONT);
-        cameraBack = new Camera(Camera.CameraPosition.BACK);
         controlHub = new ControlHub();
         mecanumDrive = new MecanumDrive();
-        nav = new Navigation(controlHub, mecanumDrive, cameraBack);
-        intake = new Intake();
+        cameraBack = new Camera(Camera.CameraPosition.BACK);
+        cameraFront = new Camera(Camera.CameraPosition.FRONT);
         holdingCell = new HoldingCell();
-        lift = new Lift();
+        nav = new Navigation(controlHub, mecanumDrive,cameraFront,cameraBack);
+        intake = new Intake();
         arm = new Arm();
+        lift = new Lift();
         placement = new Placement();
-        climber = new Climber();
-
-
         mechanisms = Arrays.asList(
-                //mecanumDrive,
+                mecanumDrive,
                 controlHub,
-                //intake,
-                cameraBack
-                //holdingCell,
-                //lift,
-                //arm,
-                //placement,
-                //climber
+                intake,
+                arm,
+                lift,
+                cameraFront,
+                cameraBack,
+                holdingCell,
+                placement
         );
     }
 
@@ -71,10 +63,6 @@ public void makeDriveOnly() {
     }
 
     public void init(HardwareMap hwMap) {
-        int[] ids = VisionPortal.makeMultiPortalView(2, VisionPortal.MultiPortalLayout.HORIZONTAL);
-        //cameraFront.setViewPortID(ids[0]);
-        cameraBack.setViewPortID(ids[1]);
-
         for (Mechanism mechanism : mechanisms) {
             mechanism.init(hwMap);
         }