made hangsubsystem and named arm and hang properly to match the drive…

…rstation and made it setup correctly for when it turns on (#34) * added hang subsystem * forgot to change the command names * hang subsystem * made the strings for Hardware.java and setup.java. also i made setup on Robot.java and Hardware.java work also this builds * fixed your complaints
technototes · Oct 19, 2024 · 8d275ff · 8d275ff
1 parent c6209b5
commit 8d275ff
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Showing 5 changed files with 65 additions and 4 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
@@ -17,18 +17,19 @@
 import org.firstinspires.ftc.robotcore.external.navigation.VoltageUnit;
 import com.technototes.library.hardware.sensor.ColorSensor;
 import com.technototes.library.hardware.sensor.Rev2MDistanceSensor;
+import com.technototes.library.hardware.motor.Motor;
 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, armL, armR;
     public MotorEncoder odoF, odoR;
     public Servo retainer, jaw;
     public CRServo intake;
     public ColorSensor colorSensor;
     public Rev2MDistanceSensor rev2MDistanceSensor;
-
+    public Motor suspend;
     /* Put other hardware here! */
 
     public Hardware(HardwareMap hwmap) {
@@ -55,6 +56,13 @@ public Hardware(HardwareMap hwmap) {
             colorSensor = new ColorSensor(Setup.HardwareNames.COLOR1);
             rev2MDistanceSensor = new Rev2MDistanceSensor(Setup.HardwareNames.DIST1);
         }
+        if (Setup.Connected.HANGSUBSYSTEM) {
+            suspend = new Motor(Setup.HardwareNames.SUSPEND);
+        }
+        if (Setup.Connected.ARMSUBSYSTEM) {
+            armL = new EncodedMotor<>(Setup.HardwareNames.ARML);
+            armR = new EncodedMotor<>(Setup.HardwareNames.ARMR);
+        }
     }
 
     // We can read the voltage from the different hubs for fun...

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Robot.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Robot.java
@@ -4,6 +4,7 @@
 import com.technototes.library.util.Alliance;
 import org.firstinspires.ftc.twenty403.helpers.StartingPosition;
 import org.firstinspires.ftc.twenty403.subsystems.DrivebaseSubsystem;
+import org.firstinspires.ftc.twenty403.subsystems.HangSubsystem;
 import org.firstinspires.ftc.twenty403.subsystems.KidShampooSubsystem;
 import org.firstinspires.ftc.twenty403.subsystems.SafetySubsystem;
 import org.firstinspires.ftc.twenty403.subsystems.TwoDeadWheelLocalizer;
@@ -18,6 +19,8 @@ public class Robot implements Loggable {
     public KidShampooSubsystem kidShampooSubsystem;
     public TwoDeadWheelLocalizer localizer;
     public SafetySubsystem safetySubsystem;
+    public HangSubsystem hangSubsystem;
+   // public ArmSubsystem armSubsytem;
 
     public Robot(Hardware hw, Alliance team, StartingPosition pos) {
         this.position = pos;
@@ -48,5 +51,11 @@ public Robot(Hardware hw, Alliance team, StartingPosition pos) {
         if (Setup.Connected.KIDSSHAMPOOSUBSYSTEM) {
             this.kidShampooSubsystem = new KidShampooSubsystem(hw);
         }
+        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
@@ -11,6 +11,8 @@ public static class Connected {
         public static boolean ODOSUBSYSTEM = true;
         public static boolean SAFETYSUBSYSTEM = false;
         public static boolean KIDSSHAMPOOSUBSYSTEM = true;
+        public static boolean HANGSUBSYSTEM = true;
+        public static boolean ARMSUBSYSTEM = true;
     }
 
     @Config
@@ -28,6 +30,9 @@ public static class HardwareNames {
         public static String JAW = "jaw";
         public static String COLOR1 = "color";
         public static String DIST1 = "dist";
+        public static String SUSPEND = "suspend";
+        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
@@ -19,7 +19,8 @@ public class OperatorController {
     public CommandButton slurpIntake;
     public CommandButton spitIntake;
     public CommandButton stopIntake;
-
+    public CommandButton suspend;
+    public CommandButton SuspendReverse;
 
     public OperatorController(CommandGamepad g, Robot r) {
         robot = r;
@@ -38,13 +39,16 @@ private void AssignNamedControllerButton() {
         spitIntake = gamepad.rightBumper;
         biteJaw = gamepad.ps_cross;
         releaseJaw = gamepad.ps_triangle;
-
+        suspend = gamepad.ps_circle;
     }
 
     public void BindControls() {
         if (Setup.Connected.KIDSSHAMPOOSUBSYSTEM){
             bindKidShampooControls();
         }
+        if (Setup.Connected.HANGSUBSYSTEM){
+            bindHangControls();
+        }
     }
     public void bindKidShampooControls() {
         openRetainer.whenPressed(Command.create(robot.kidShampooSubsystem::openRetainer, robot.kidShampooSubsystem));
@@ -57,4 +61,9 @@ public void bindKidShampooControls() {
         slurpIntake.whenReleased(Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem));
         spitIntake.whenReleased(Command.create(robot.kidShampooSubsystem::stopIntake, robot.kidShampooSubsystem));
     }
+
+    public void bindHangControls() {
+        suspend.whenPressed(Command.create(robot.hangSubsystem::suspend, 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
@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.twenty403.subsystems;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.technototes.library.hardware.servo.Servo;
+import com.technototes.library.logger.Log;
+import com.technototes.library.logger.Loggable;
+import com.technototes.library.subsystem.Subsystem;
+import com.technototes.library.hardware.motor.Motor;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.twenty403.Hardware;
+
+@Config
+public class HangSubsystem implements Subsystem, Loggable {
+
+    private Motor suspend;
+
+
+    public static double SUSPEND_POSITION = .4;
+
+    public HangSubsystem(Hardware hw) {
+        suspend = hw.suspend;
+    }
+
+
+    public void suspend() {
+        suspend.setPower(SUSPEND_POSITION);
+    }
+
+
+}