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Merge pull request #31 from ftc16072/merge-onto-one-controller
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Merge onto one controller
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@Joshua-Smith-42
Joshua-Smith-42 authored Dec 3, 2024
2 parents 46c7bff + 0fcbd97 commit 4afbead
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Showing 2 changed files with 39 additions and 35 deletions.
17 changes: 13 additions & 4 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/IntakeSlides.java
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,6 @@ public class IntakeSlides extends QQMechanism {
private DcMotor rightIntakeSlideMotor;
private DcMotor leftIntakeSlideMotor;
private TouchSensor limitSwitch;
/*
private TouchSensor limitSwitch;
*/


public int currentPos;
Expand All @@ -44,7 +41,7 @@ public class IntakeSlides extends QQMechanism {
public static double kP = 0.01;
public static double kI = 0.0;
public static double kD = 0.0;
public static double kF = 0.4;
public static double kF = 0.0;
public static double max = 0.8;
public static double min = -max;

Expand Down Expand Up @@ -76,8 +73,20 @@ public void manualPositionChange(int changeAmount){
}
@Override
public void update(Telemetry telemetry){
if(limitSwitch.isPressed()) {
leftIntakeSlideMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftIntakeSlideMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
rightIntakeSlideMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightIntakeSlideMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
if (desiredPos < 0) {
desiredPos = 0;
}
}
currentPos = (leftIntakeSlideMotor.getCurrentPosition() + rightIntakeSlideMotor.getCurrentPosition())/2;//average left and right speeds
double motorPower = pidfController.calculate(desiredPos,currentPos);
if (desiredPos == 0 && !limitSwitch.isPressed()){
motorPower = -0.8;
}
this.motorPower = motorPower;
leftIntakeSlideMotor.setPower(motorPower);
rightIntakeSlideMotor.setPower(motorPower);
Expand Down
57 changes: 26 additions & 31 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/NoTurnTeleop.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,10 @@ public class NoTurnTeleop extends QQOpMode{
private boolean isPlacing = false;
private boolean isSearching = false;
private boolean isIntaking = false;
boolean manipulatorXWasPressed;
boolean XWasPressed;
boolean chamberContactWasPressed;
boolean clawWasClosed;
boolean slidesSwitchWasPressed;
int contactLostPos;

public void init(){
Expand All @@ -38,28 +39,30 @@ public void loop(){
} else robot.mecanumDrive.setSpeed(MecanumDrive.Speed.NORMAL);

if (gamepad1.a){
if (robot.intakeSlides.isSwitchPressed()){
robot.scoreArm.goToIntake();
robot.scoringClaw.open();
robot.intakeArm.goToDropPos();
}else {
robot.intakeSlides.startPosition();
}
if (robot.intakeSlides.isSwitchPressed() && !slidesSwitchWasPressed){
robot.scoreArm.goToIntake();
robot.scoringClaw.open();
robot.intakeArm.goToDropPos();
}
}else if (robot.scoringClaw.isClawClosed() && !clawWasClosed) {
robot.intakeClaw.open();
robot.scoreArm.goToPlace();
robot.intakeArm.transfer();
}else if (gamepad1.dpad_up){
robot.scoreArm.manualPositionChange(MANUAL_CHANGE);
robot.intakeSlides.manualPositionChange(MANUAL_CHANGE);
}else if (gamepad1.dpad_down){
robot.scoreArm.manualPositionChange(-MANUAL_CHANGE);
robot.intakeSlides.manualPositionChange(-MANUAL_CHANGE);
}
if (gamepad1.left_stick_button){
robot.controlHub.resetGyro();
}

if (gamepad1.right_trigger > TRIGGER_THRESHOLD) {
robot.intakeClaw.open();
robot.scoringClaw.close();
}else if (gamepad1.right_bumper){
robot.scoringClaw.open();}


if(robot.scoreArm.isChamberContacted()){
robot.scoreArm.goToScoring();
Expand All @@ -72,54 +75,46 @@ public void loop(){
}


if(gamepad2.y){
robot.intakeSlides.fullExtension();
if(gamepad1.y){
robot.intakeClaw.close();
robot.intakeSlides.fullExtension();
}
if(gamepad2.b){
robot.intakeSlides.halfExtension();
if(gamepad1.b){
robot.intakeClaw.close();
robot.intakeSlides.halfExtension();
}
if(gamepad2.a){
robot.intakeSlides.startPosition();
}
if(gamepad2.dpad_up){
robot.intakeSlides.manualPositionChange(5);
}
if(gamepad2.dpad_down){
robot.intakeSlides.manualPositionChange(-5);
}
if (gamepad2.x && !manipulatorXWasPressed){
if (gamepad1.x && !XWasPressed){
if(isSearching){
robot.intakeClaw.open();
robot.intakeClaw.close();
robot.intakeArm.goToIntake();
isIntaking = true;
isSearching = false;
}else {
robot.intakeArm.searching();
isSearching = true;
}
}if (isIntaking && !gamepad2.x){
}if (isIntaking && !gamepad1.x){
robot.intakeClaw.close();
robot.intakeClaw.wristFlat();
robot.intakeArm.transfer();
isIntaking = false;
}
if (gamepad2.right_bumper){
if (gamepad1.right_bumper){
robot.intakeClaw.open();
}else if(gamepad2.right_trigger>TRIGGER_THRESHOLD){
}else if(gamepad1.right_trigger>TRIGGER_THRESHOLD){
robot.intakeClaw.close();
}

if (gamepad2.dpad_right){
if (gamepad1.dpad_right){
robot.intakeClaw.adjustWrist(MANUAL_CHANGE_AMOUNT_WRIST);
}else if(gamepad2.dpad_left){
}else if(gamepad1.dpad_left){
robot.intakeClaw.adjustWrist(-MANUAL_CHANGE_AMOUNT_WRIST);
}

manipulatorXWasPressed = gamepad2.x;
XWasPressed = gamepad1.x;
chamberContactWasPressed = robot.scoreArm.isChamberContacted();
clawWasClosed = robot.scoringClaw.isClawClosed();
slidesSwitchWasPressed = robot.intakeSlides.isSwitchPressed();

}
}

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