Fixed closed claw problem and relative speed for slides

ftc16072 · Dec 31, 2024 · 0e2c2c6 · 0e2c2c6
1 parent 67295fe
commit 0e2c2c6
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Showing 2 changed files with 15 additions and 12 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/IntakeSlides.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/IntakeSlides.java
@@ -28,7 +28,7 @@ public class IntakeSlides extends QQMechanism {
     public static final int SLIDES_EXTENSION_BOUNDARY = FULL_EXTENSION_POSITION+10;
     private static final int HALF_EXTENSION_POSITION = 740;
     private static final int START_POSITION = 0;
-    public static int MANUAL_CHANGE_AMOUNT = 30;
+    public static double MANUAL_CHANGE_AMOUNT = 30;
 
     private DcMotor rightIntakeSlideMotor;
     private DcMotor leftIntakeSlideMotor;
@@ -69,13 +69,13 @@ public void init(HardwareMap hwMap) {
     public void setPosition(int desiredPos){
         this.desiredPos = desiredPos;
     }
-    public void extend(){
-        manualPositionChange(MANUAL_CHANGE_AMOUNT);
+    public void extend(double speed){
+        manualPositionChange(MANUAL_CHANGE_AMOUNT * speed);
     }
-    public void retract(){
-        manualPositionChange(-MANUAL_CHANGE_AMOUNT);
+    public void retract(double speed){
+        manualPositionChange(-MANUAL_CHANGE_AMOUNT * speed);
     }
-    private void manualPositionChange(int changeAmount){
+    private void manualPositionChange(double changeAmount){
         desiredPos += changeAmount;
     }
     @Override

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/NoTurnTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/NoTurnTeleop.java
@@ -30,10 +30,12 @@ public void loop() {
         double left = gamepad1.left_stick_x;
         double rotate = 0;
         if (gamepad1.right_stick_button) {
-            if (gamepad1.right_stick_y < -0.2) {
-                robot.intakeSlides.extend();
-            } else if (gamepad1.right_stick_y > 0.2) {
-                robot.intakeSlides.retract();
+            if (gamepad1.right_stick_y < -0.1) {
+                double slideSpeed = (gamepad1.right_stick_y) * -5;
+                robot.intakeSlides.extend(slideSpeed);
+            } else if (gamepad1.right_stick_y > 0.1) {
+                double slideSpeed = (gamepad1.right_stick_y) * 5;
+                robot.intakeSlides.retract(slideSpeed);
             }
             if (robot.intakeSlides.isSafeToRotate()) {
                 if (gamepad1.right_stick_x > 0.3) {
@@ -127,9 +129,9 @@ public void loop() {
             robot.scoreArm.setNotScoring();
         }
         if (gamepad2.dpad_up) {
-            robot.intakeSlides.extend();
+            robot.intakeSlides.extend(1);
         } else if (gamepad2.dpad_down) {
-            robot.intakeSlides.retract();
+            robot.intakeSlides.retract(1);
         }
         if (gamepad2.right_trigger > TRIGGER_THRESHOLD) {
             robot.scoringClaw.open();
@@ -141,6 +143,7 @@ public void loop() {
         XWasPressed = gamepad1.x;
         chamberContactWasPressed = robot.scoreArm.isChamberContacted();
         clawWasClosed = robot.scoringClaw.isClawClosed();
+        intakeClawWasClosed = robot.intakeClaw.isClawClosed();
         slidesSwitchWasPressed = robot.intakeSlides.isSwitchPressed();
         manipulatorXWasPressed = gamepad2.x;