merge with main

technototes · Oct 26, 2024 · 2fb3dce · 2fb3dce
2 parents db12039 + ba48226
commit 2fb3dce
Show file tree

Hide file tree

Showing 3 changed files with 24 additions and 17 deletions.
diff --git a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/Robot.java b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/Robot.java
@@ -30,7 +30,7 @@ public Robot(Hardware hw, Alliance team, StartingPosition pos) {
             drivebase = new DrivebaseSubsystem(hw.fl, hw.fr, hw.rl, hw.rr, hw.imu);
         }
         if (Setup.Connected.VERTICALSLIDESUBSYSTEM) {
-            slideH = new VerticalSlidesSubsystem(hw.slidemotor);
+            slideH = new VerticalSlidesSubsystem(hw);
         }
         if (Setup.Connected.HORIZONTALSLIDESUBSYSTEM) {
             horizontalSlidesSubsystem = new HorizontalSlidesSubsystem(hw);

diff --git a/.../src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java b/.../src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java
@@ -24,9 +24,9 @@ public class HorizontalSlidesSubsystem implements Subsystem, Loggable {
     public static double LinkServoRetract = 0;
     public static double ClawServoClose = 0.55;
     public static double ClawServoOpen = 0;
-    public static double ClawWristServoTransfer = 0.545;
-    public static double ClawWristServoPickup = 0.05;
-    public static double ClawWristServoIncrement = 0.555;
+    public static double WristServoTransfer = 0.545;
+    public static double WristServoPickup = 0.05;
+    public static double WristServoIncrement = 0.555;
 
     @Log(name = "wristTarget")
     public double wristTargetPos;
@@ -38,7 +38,7 @@ public class HorizontalSlidesSubsystem implements Subsystem, Loggable {
     private boolean isHardware;
 
     public HorizontalSlidesSubsystem(Hardware hw) {
-        clawwristServo = hw.wristservo;
+        wristServo = hw.wristservo;
         clawServo = hw.clawservo;
         linkServo = hw.linkservo;
 
@@ -51,7 +51,7 @@ public HorizontalSlidesSubsystem(Hardware hw) {
     public HorizontalSlidesSubsystem() {
         isHardware = false;
         linkServo = null;
-        clawwristServo = null;
+        wristServo = null;
         clawServo = null;
     }
 
@@ -74,12 +74,12 @@ public void ClawServoBigOpen() {
     }
 
     public void ClawWristServoPickup() {
-        clawwristServo.setPosition(ClawWristServoPickup); //lowers claw to intake
+        wristServo.setPosition(WristServoPickup); //lowers claw to intake
     }
 
     public void ClawWristServoTransfer() {
         // positions for the arm of the bot for transfer
-        clawwristServo.setPosition(ClawWristServoTransfer);
+        wristServo.setPosition(WristServoTransfer);
     }
 
     public void ClawWristServoIncrement() {

diff --git a/...50/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/VerticalSlidesSubsystem.java b/...50/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/VerticalSlidesSubsystem.java
@@ -22,7 +22,7 @@ public class VerticalSlidesSubsystem implements Subsystem, Loggable {
     public static double LOW_BUCKET = -950;
     public static double HIGH_BUCKET = -1350;
     //    public static double HIGH_POS = 1000;
-    public static double WRIST_POS = 0;
+    public static double SLIDE_POS = 0;
     public static double ARM_POS = 0;
     public static double MIN_MOTOR_SPEED = -0.7;
     public static double MAX_MOTOR_SPEED = 1;
@@ -48,11 +48,11 @@ public class VerticalSlidesSubsystem implements Subsystem, Loggable {
     @Log(name = "slideTarget")
     public int slideTargetPos;
 
-    @Log(name = "wristPos")
-    public double wristPos;
 
-    @Log(name = "wristTarget")
-    public double wristTargetPos;
+    @Log(name = "armTarget")
+    public double armTargetPos;
+    @Log(name = "bucketTarget")
+    public double bucketTargetPos;
 
     public static PIDCoefficients PID = new PIDCoefficients(0.0, 0.0, 0.0);
     public Servo armServo;
@@ -98,10 +98,10 @@ private void setSlidePos(int e) {
         slideTargetPos = e;
     }
 
-    private void setWristPos(double w) {
+    private void setArmPos(double w) {
         if (armServo != null) {
             armServo.setPosition(w);
-            wristTargetPos = w;
+            armTargetPos = w;
         }
     }
 
@@ -152,12 +152,12 @@ public void SlideChamberHigh() {
 
     public void LiftHeightIntake() {
         //brings the arm all the way down
-        slidePidController.setTargetPosition(WRIST_POS);
+        slidePidController.setTargetPosition(SLIDE_POS);
         //        armServo.setPosition(0);
         //        scoreServo.setPosition(0);
     }
 
-    public void BucketWristServoIncrement() {
+    public void BucketServoIncrement() {
         // the arm's position to score
         armServo.setPosition(WristServoIncrement);
     }
@@ -203,4 +203,11 @@ private int getSlideUnmodifiedPosition() {
             return 0;
         }
     }
+
+    private void setBucketPos(double w) {
+        if (bucketServo != null) {
+            bucketServo.setPosition(w);
+            bucketTargetPos = w;
+        }
+    }
 }