hang subsystem

technototes · Oct 19, 2024 · f0941a5 · f0941a5
1 parent ab196ae
commit f0941a5
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Showing 4 changed files with 24 additions and 17 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
@@ -29,6 +29,7 @@ public class Hardware implements Loggable {
     public ColorSensor colorSensor;
     public Rev2MDistanceSensor rev2MDistanceSensor;
     public EncodedMotor suspend;
+    public EncodedMotor suspendReverse;
 
     /* Put other hardware here! */
 
@@ -58,6 +59,7 @@ public Hardware(HardwareMap hwmap) {
         }
         if (Setup.Connected.HANGSUBSYSTEM) {
             suspend = new EncodedMotor(Setup.HardwareNames.SUSPEND);
+            suspendReverse = new EncodedMotor(Setup.HardwareNames.SUSPENDREVERSE);
         }
     }
 

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Setup.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/Setup.java
@@ -30,6 +30,7 @@ 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";
 
     }
 

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 +39,17 @@ private void AssignNamedControllerButton() {
         spitIntake = gamepad.rightBumper;
         biteJaw = gamepad.ps_cross;
         releaseJaw = gamepad.ps_triangle;
-
+        Suspend = gamepad.ps_circle;
+        SuspendReverse= 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 +62,9 @@ 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));
+        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
@@ -13,31 +13,25 @@
 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_1_POSITION = .1;
-    public static double SUSPEND_2_POSITION = .2;
-    public static double SUSPEND_3_POSITION = .4;
 
-    @Log(name = "distance value ")
-    public double distance_value;
-    @Log(name = "color value ")
-    public double color_value;
     public HangSubsystem(Hardware hw) {
         suspend = hw.suspend;
+        suspendReverse = hw.suspendReverse.setBackward();
     }
 
-    public void Suspendpos1() {
-        suspend.setPosition(SUSPEND_1_POSITION);
-    }
 
-    public void Suspendpos2() {
-        suspend.setPosition(SUSPEND_2_POSITION);
+    public void Suspend() {
+        suspend.setPosition(SUSPEND_POSITION);
     }
-    public void Suspendpos3() {
-        suspend.setPosition(SUSPEND_3_POSITION);
+    public void Supendreverse() {
+        suspendReverse.setPosition(SUSPENDREVERSE_POSITION);
     }
 
-
     @Override
     public void periodic() {