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Harshini drivebase i love drivebases (#80)
* 11/18/24 - Harshini i made a forward backward side opmode and tested it (it goes in a square) for kevin :D * 11/18/24 - Harshini after consulting with kevin on monday, yesterday, odopods are actually messed up and we(I) need to test to see which ones need to be reversed teehee yay yippee yahooooooo * 11/19/24 - Harshini methods for slide buttons * 11/19/24 - Harshini changed PID constants and feed fwd constant (not fully tested yet, will finish on friday hopefullyyy) * 11/21/24 - Harshini updated kid shampoo constants, should be all correct now (tested on bot) :DDD --------- Co-authored-by: FTC16750 <[email protected]>
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100 changes: 100 additions & 0 deletions
100
Twenty403/src/main/java/org/firstinspires/ftc/twenty403/controls/KidShamTestController.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,100 @@ | ||
| package org.firstinspires.ftc.twenty403.controls; | ||
|
|
||
| import com.technototes.library.command.Command; | ||
| import com.technototes.library.control.CommandButton; | ||
| import com.technototes.library.control.CommandGamepad; | ||
|
|
||
| import org.firstinspires.ftc.twenty403.Robot; | ||
| import org.firstinspires.ftc.twenty403.Setup; | ||
|
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| public class KidShamTestController { | ||
|
|
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| public Robot robot; | ||
| public CommandGamepad gamepad; | ||
| public CommandButton openRetainer; | ||
| public CommandButton closeRetainer; | ||
| public CommandButton eatRetainer; | ||
| public CommandButton biteJaw; | ||
| public CommandButton releaseJaw; | ||
| public CommandButton slurpIntake; | ||
| public CommandButton spitIntake; | ||
| public CommandButton stopIntake; | ||
| public CommandButton suspend; | ||
| public CommandButton SuspendReverse; | ||
| public CommandButton armIntake; | ||
| public CommandButton armLowNet; | ||
| public CommandButton armLowSpecimen; | ||
| public CommandButton armHighSpecimen; | ||
| public CommandButton armHorizontal; | ||
| public CommandButton armVertical; | ||
| public CommandButton armIncrement; | ||
| public CommandButton armDecrement; | ||
| public CommandButton dumpWrist; | ||
| public CommandButton scoopWrist; | ||
| public CommandButton slideIn; | ||
| public CommandButton slideOut; | ||
| public CommandButton slideMax; | ||
| public CommandButton slideMin; | ||
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| public KidShamTestController(CommandGamepad g, Robot r) { | ||
| robot = r; | ||
| gamepad = g; | ||
| AssignNamedControllerButton(); | ||
| BindControls(); | ||
| } | ||
|
|
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| private void AssignNamedControllerButton() { | ||
| openRetainer = gamepad.dpadUp; | ||
| closeRetainer = gamepad.dpadRight; | ||
| slurpIntake = gamepad.leftBumper; | ||
| spitIntake = gamepad.rightBumper; | ||
| //temp changing the button below from biteJaw to intake :DD | ||
| biteJaw = gamepad.dpadLeft; | ||
| releaseJaw = gamepad.dpadDown; | ||
| dumpWrist = gamepad.ps_circle; | ||
| scoopWrist = gamepad.ps_square; | ||
|
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| } | ||
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| public void BindControls() { | ||
| if (Setup.Connected.KIDSSHAMPOOSUBSYSTEM) { | ||
| bindKidShampooControls(); | ||
| } | ||
| } | ||
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| public void bindKidShampooControls() { | ||
| openRetainer.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::openRetainer, robot.kidShampooSubsystem) | ||
| ); | ||
| closeRetainer.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::closeRetainer, robot.kidShampooSubsystem) | ||
| ); | ||
| biteJaw.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::biteJaw, robot.kidShampooSubsystem) | ||
| ); | ||
| releaseJaw.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::releaseJaw, robot.kidShampooSubsystem) | ||
| ); | ||
| slurpIntake.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::slurpIntake, robot.kidShampooSubsystem) | ||
| ); | ||
| spitIntake.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::spitIntake, robot.kidShampooSubsystem) | ||
| ); | ||
| slurpIntake.whenReleased( | ||
| Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem) | ||
| ); | ||
| spitIntake.whenReleased( | ||
| Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem) | ||
| ); | ||
| dumpWrist.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::dumpWrist, robot.kidShampooSubsystem) | ||
| ); | ||
| scoopWrist.whenPressed( | ||
| Command.create(robot.kidShampooSubsystem::scoopWrist, robot.kidShampooSubsystem) | ||
| ); | ||
| } | ||
| } | ||
|
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||
|
|
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42 changes: 42 additions & 0 deletions
42
Twenty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/KidShamTest.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,42 @@ | ||
| package org.firstinspires.ftc.twenty403.opmodes; | ||
|
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| import com.acmerobotics.dashboard.FtcDashboard; | ||
| import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; | ||
| import com.qualcomm.robotcore.eventloop.opmode.TeleOp; | ||
| import com.technototes.library.command.CommandScheduler; | ||
| import com.technototes.library.structure.CommandOpMode; | ||
| import com.technototes.library.util.Alliance; | ||
|
|
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| import org.firstinspires.ftc.twenty403.AutoConstants; | ||
| import org.firstinspires.ftc.twenty403.Hardware; | ||
| import org.firstinspires.ftc.twenty403.Robot; | ||
| import org.firstinspires.ftc.twenty403.Setup; | ||
| import org.firstinspires.ftc.twenty403.commands.EZCmd; | ||
| import org.firstinspires.ftc.twenty403.controls.DriverController; | ||
| import org.firstinspires.ftc.twenty403.controls.KidShamTestController; | ||
| import org.firstinspires.ftc.twenty403.controls.OperatorController; | ||
| import org.firstinspires.ftc.twenty403.helpers.StartingPosition; | ||
|
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| @TeleOp(name = "KidShamTest") | ||
| @SuppressWarnings("unused") | ||
| public class KidShamTest extends CommandOpMode { | ||
|
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| public Robot robot; | ||
| public KidShamTestController kidShamTestController; | ||
| public Hardware hardware; | ||
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| @Override | ||
| public void uponInit() { | ||
| telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); | ||
| hardware = new Hardware(hardwareMap); | ||
| robot = new Robot(hardware, Alliance.BLUE, StartingPosition.Unspecified); | ||
| kidShamTestController = new KidShamTestController(codriverGamepad, robot); | ||
| if (Setup.Connected.DRIVEBASE) { | ||
|
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| CommandScheduler.scheduleForState( | ||
| EZCmd.Drive.ResetGyro(robot.drivebaseSubsystem), | ||
| OpModeState.INIT | ||
| ); | ||
| } | ||
| } | ||
| } |
51 changes: 51 additions & 0 deletions
51
...ty403/src/main/java/org/firstinspires/ftc/twenty403/opmodes/auto/ForwardBackwardSide.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| package org.firstinspires.ftc.twenty403.opmodes.auto; | ||
|
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| import com.acmerobotics.dashboard.FtcDashboard; | ||
| import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; | ||
| import com.qualcomm.robotcore.eventloop.opmode.Autonomous; | ||
| import com.technototes.library.command.CommandScheduler; | ||
| import com.technototes.library.command.SequentialCommandGroup; | ||
| import com.technototes.library.structure.CommandOpMode; | ||
| import com.technototes.library.util.Alliance; | ||
|
|
||
| import org.firstinspires.ftc.twenty403.AutoConstants; | ||
| import org.firstinspires.ftc.twenty403.Hardware; | ||
| import org.firstinspires.ftc.twenty403.Robot; | ||
| import org.firstinspires.ftc.twenty403.commands.EZCmd; | ||
| import org.firstinspires.ftc.twenty403.commands.auto.Paths; | ||
| import org.firstinspires.ftc.twenty403.controls.DriverController; | ||
| import org.firstinspires.ftc.twenty403.controls.SafetyTestController; | ||
| import org.firstinspires.ftc.twenty403.helpers.StartingPosition; | ||
|
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| //TODO: figure out where the other splineTest is coming from (duplicate spline error) | ||
| @Autonomous(name = "ForwardBackwardSide") | ||
| @SuppressWarnings("unused") | ||
| public class ForwardBackwardSide extends CommandOpMode { | ||
|
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| public Robot robot; | ||
| public DriverController controls; | ||
| public SafetyTestController safety; | ||
| public Hardware hardware; | ||
|
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| @Override | ||
| public void uponInit() { | ||
| telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); | ||
| hardware = new Hardware(hardwareMap); | ||
| robot = new Robot(hardware, Alliance.RED, StartingPosition.Observation); | ||
| robot.drivebaseSubsystem.setPoseEstimate(AutoConstants.REST.toPose()); | ||
| // safety = new SafetyTestController(driverGamepad, robot); | ||
| //robot.safetySubsystem.startMonitoring(); | ||
| CommandScheduler.scheduleForState( | ||
| new SequentialCommandGroup( | ||
| Paths.ForwardBackwardSide(robot), | ||
| EZCmd.Drive.RecordHeading(robot.drivebaseSubsystem), | ||
| CommandScheduler::terminateOpMode | ||
| ), | ||
| OpModeState.RUN | ||
| ); | ||
| // CommandScheduler.scheduleForState( | ||
| // new SafetyStartCommand(robot.safetySubsystem), | ||
| // OpModeState.RUN | ||
| // ); | ||
| } | ||
| } |
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