made the strings for Hardware.java and setup.java. also i made setup …

…on Robot.java and Hardware.java work also this builds
technototes · Oct 19, 2024 · 171cc93 · 171cc93
1 parent f0941a5
commit 171cc93
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Showing 5 changed files with 16 additions and 20 deletions.
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Hardware.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Hardware.java
@@ -22,15 +22,12 @@ public class Hardware implements Loggable {
     public List<LynxModule> hubs;
 
     public IMU imu;
-    public EncodedMotor<DcMotorEx> fl, fr, rl, rr;
+    public EncodedMotor<DcMotorEx> fl, fr, rl, rr, suspend, armL, armR;
     public MotorEncoder odoF, odoR;
     public Servo retainer, jaw;
     public CRServo intake;
     public ColorSensor colorSensor;
     public Rev2MDistanceSensor rev2MDistanceSensor;
-    public EncodedMotor suspend;
-    public EncodedMotor suspendReverse;
-
     /* Put other hardware here! */
 
     public Hardware(HardwareMap hwmap) {
@@ -58,8 +55,11 @@ public Hardware(HardwareMap hwmap) {
             rev2MDistanceSensor = new Rev2MDistanceSensor(Setup.HardwareNames.DIST1);
         }
         if (Setup.Connected.HANGSUBSYSTEM) {
-            suspend = new EncodedMotor(Setup.HardwareNames.SUSPEND);
-            suspendReverse = new EncodedMotor(Setup.HardwareNames.SUSPENDREVERSE);
+            suspend = new EncodedMotor<>(Setup.HardwareNames.SUSPEND);
+        }
+        if (Setup.Connected.ARMSUBSYSTEM) {
+            armL = new EncodedMotor<>(Setup.HardwareNames.ARML);
+            armR = new EncodedMotor<>(Setup.HardwareNames.ARMR);
         }
     }
 

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Robot.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Robot.java
@@ -20,6 +20,7 @@ public class Robot implements Loggable {
     public TwoDeadWheelLocalizer localizer;
     public SafetySubsystem safetySubsystem;
     public HangSubsystem hangSubsystem;
+   // public ArmSubsystem armSubsytem;
 
     public Robot(Hardware hw, Alliance team, StartingPosition pos) {
         this.position = pos;
@@ -53,5 +54,8 @@ public Robot(Hardware hw, Alliance team, StartingPosition pos) {
         if (Setup.Connected.HANGSUBSYSTEM) {
             this.hangSubsystem = new HangSubsystem(hw);
         }
+        if (Setup.Connected.ARMSUBSYSTEM) {
+          //  this.armSubsytem = new ArmSubsystem(hw);
+        }
     }
 }
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Setup.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Setup.java
@@ -12,6 +12,7 @@ public static class Connected {
         public static boolean SAFETYSUBSYSTEM = false;
         public static boolean KIDSSHAMPOOSUBSYSTEM = true;
         public static boolean HANGSUBSYSTEM = true;
+        public static boolean ARMSUBSYSTEM = true;
     }
 
     @Config
@@ -30,7 +31,8 @@ public static class HardwareNames {
         public static String COLOR1 = "color";
         public static String DIST1 = "dist";
         public static String SUSPEND = "suspend";
-        public static String SUSPENDREVERSE = "suspend reverse";
+        public static String ARML = "armL";
+        public static String ARMR = "armR";
 
     }
 

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/OperatorController.java
@@ -40,7 +40,6 @@ private void AssignNamedControllerButton() {
         biteJaw = gamepad.ps_cross;
         releaseJaw = gamepad.ps_triangle;
         Suspend = gamepad.ps_circle;
-        SuspendReverse= gamepad.ps_circle;
     }
 
     public void BindControls() {
@@ -65,6 +64,6 @@ public void bindKidShampooControls() {
 
     public void bindHangControls() {
         Suspend.whenPressed(Command.create(robot.hangSubsystem::Suspend, robot.hangSubsystem));
-        SuspendReverse.whenReleased(Command.create(robot.hangSubsystem::Supendreverse, robot.hangSubsystem));
+
     }
 }
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/HangSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/HangSubsystem.java
@@ -13,27 +13,18 @@
 public class HangSubsystem implements Subsystem, Loggable {
 
     private EncodedMotor suspend;
-    private EncodedMotor suspendReverse;
 
-    public static double SUSPEND_POSITION = .4;
-    public static double SUSPENDREVERSE_POSITION = .4;
 
+    public static double SUSPEND_POSITION = .4;
 
     public HangSubsystem(Hardware hw) {
         suspend = hw.suspend;
-        suspendReverse = hw.suspendReverse.setBackward();
     }
 
 
     public void Suspend() {
         suspend.setPosition(SUSPEND_POSITION);
     }
-    public void Supendreverse() {
-        suspendReverse.setPosition(SUSPENDREVERSE_POSITION);
-    }
 
-    @Override
-    public void periodic() {
 
-    }
-}
+}