Fixing the busted 20403 build

technototes · Nov 3, 2024 · f857227 · f857227
1 parent e131d26
commit f857227
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Showing 10 changed files with 15 additions and 164 deletions.
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/HighBasketCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/HighBasketCommand.java
@@ -2,7 +2,6 @@
 
 import com.technototes.library.command.Command;
 import com.technototes.library.command.SequentialCommandGroup;
-
 import org.firstinspires.ftc.twenty403.Robot;
 
 public class HighBasketCommand {
@@ -11,12 +10,9 @@ public class HighBasket extends SequentialCommandGroup {
 
         public SequentialCommandGroup HighBasket(Robot r) {
             return new SequentialCommandGroup(
-                    Command.create(r.armSubsystem::highBasketRotate, r.armSubsystem),
-                    Command.create(r.armSubsystem::highBasketSlides, r.armSubsystem),
-                    Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
-
+                Command.create(r.armSubsystem::highBasket, r.armSubsystem),
+                Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
             );
         }
     }
-
-}
+}
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/HighSpecimenCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/HighSpecimenCommand.java
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/IntakeSampleCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/IntakeSampleCommand.java
@@ -2,7 +2,6 @@
 
 import com.technototes.library.command.Command;
 import com.technototes.library.command.ParallelCommandGroup;
-
 import org.firstinspires.ftc.twenty403.Robot;
 
 public class IntakeSampleCommand {
@@ -11,12 +10,10 @@ public class Intake extends ParallelCommandGroup {
 
         public ParallelCommandGroup IntakeSample(Robot r) {
             return new ParallelCommandGroup(
-                    Command.create(r.armSubsystem::intakeRotateSample, r.armSubsystem),
-                    Command.create(r.armSubsystem::intakeSlidesSample, r.armSubsystem),
-                    Command.create(r.kidShampooSubsystem::slurpIntake, r.kidShampooSubsystem)/*,
+                Command.create(r.armSubsystem::setArmToIntake, r.armSubsystem),
+                Command.create(r.kidShampooSubsystem::slurpIntake, r.kidShampooSubsystem)/*,
                     Command.create(r.kidShampooSubsystem::eatRetainer, r.kidShampooSubsystem)*/
             );
         }
     }
-
 }
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/IntakeSpecimenCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/IntakeSpecimenCommand.java
@@ -2,7 +2,6 @@
 
 import com.technototes.library.command.Command;
 import com.technototes.library.command.ParallelCommandGroup;
-
 import org.firstinspires.ftc.twenty403.Robot;
 
 public class IntakeSpecimenCommand {
@@ -11,12 +10,10 @@ public class Intake extends ParallelCommandGroup {
 
         public ParallelCommandGroup IntakeSpecimen(Robot r) {
             return new ParallelCommandGroup(
-                    Command.create(r.armSubsystem::intakeRotateSpecimen, r.armSubsystem),
-                    Command.create(r.armSubsystem::intakeSlidesSpecimen, r.armSubsystem),
-                    Command.create(r.kidShampooSubsystem::releaseJaw, r.kidShampooSubsystem),
-                    Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
+                Command.create(r.armSubsystem::setArmToIntake, r.armSubsystem),
+                Command.create(r.kidShampooSubsystem::releaseJaw, r.kidShampooSubsystem),
+                Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
             );
         }
     }
-
-}
+}
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/LowBasketCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/LowBasketCommand.java
@@ -2,7 +2,6 @@
 
 import com.technototes.library.command.Command;
 import com.technototes.library.command.SequentialCommandGroup;
-
 import org.firstinspires.ftc.twenty403.Robot;
 
 public class LowBasketCommand {
@@ -15,12 +14,9 @@ public LowBasket(Robot robot) {
 
         public SequentialCommandGroup LowBasket(Robot r) {
             return new SequentialCommandGroup(
-                    Command.create(r.armSubsystem::lowBasketRotate, r.armSubsystem),
-                    Command.create(r.armSubsystem::lowBasketSlides, r.armSubsystem),
-                    Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
-
+                Command.create(r.armSubsystem::lowBasket, r.armSubsystem),
+                Command.create(r.kidShampooSubsystem::openRetainer, r.kidShampooSubsystem)
             );
         }
     }
-
-}
+}
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/LowSpecimenCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/LowSpecimenCommand.java
@@ -3,36 +3,17 @@
 import com.technototes.library.command.Command;
 import com.technototes.library.command.ParallelCommandGroup;
 import com.technototes.library.command.SequentialCommandGroup;
-
 import org.firstinspires.ftc.twenty403.Robot;
 
 public class LowSpecimenCommand {
 
     public class LowSpecimen extends ParallelCommandGroup {
 
-        public ParallelCommandGroup LowSpecimen1(Robot r) {
-            return new ParallelCommandGroup(
-                    Command.create(r.armSubsystem::lowSpecimenRotate1, r.armSubsystem),
-                    Command.create(r.armSubsystem::lowSpecimenSlides1, r.armSubsystem)
-            );
-        }
-
-        public ParallelCommandGroup LowSpecimen2(Robot r) {
-            return new ParallelCommandGroup(
-                    Command.create(r.armSubsystem::lowSpecimenRotate2, r.armSubsystem),
-                    Command.create(r.armSubsystem::lowSpecimenSlides2, r.armSubsystem)
-            );
-        }
-
         public SequentialCommandGroup LowSpecimen(Robot r) {
             return new SequentialCommandGroup(
-                    LowSpecimen1(r),
-                    LowSpecimen2(r),
-                    Command.create(r.kidShampooSubsystem::releaseJaw, r.armSubsystem)
-
+                Command.create(r.armSubsystem::lowSpecimen, r.armSubsystem),
+                Command.create(r.kidShampooSubsystem::releaseJaw, r.kidShampooSubsystem)
             );
         }
-
     }
-
-}
+}
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/NeutralSampleCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/NeutralSampleCommand.java
diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/NeutralSpecimenCommand.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/NeutralSpecimenCommand.java
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
@@ -72,9 +72,6 @@ public void bindKidShampooControls() {
         closeRetainer.whenPressed(
             Command.create(robot.kidShampooSubsystem::closeRetainer, robot.kidShampooSubsystem)
         );
-        eatRetainer.whenPressed(
-            Command.create(robot.kidShampooSubsystem::eatRetainer, robot.kidShampooSubsystem)
-        );
         biteJaw.whenPressed(
             Command.create(robot.kidShampooSubsystem::biteJaw, robot.kidShampooSubsystem)
         );

diff --git a/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java b/Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java
@@ -137,43 +137,11 @@ public void highSpecimen() {
         setArmPos(ROTATE_MOTOR_SPECIMEN_SCORING_POSITION_HIGH);
     }
 
-    public void lowSpecimenRotate2() {
-        rotate1.setPosition(ROTATE_MOTOR_LOW_SPECIMEN_SCORING_POSITION2);
-        rotate2.setPosition(ROTATE_MOTOR_LOW_SPECIMEN_SCORING_POSITION2);
-    }
-
-    public void lowSpecimenSlides2() {
-        slides.setPosition(SLIDES_MOTOR_LOW_SPECIMEN_SCORING_POSITION2);
-    }
-
-    public void highSpecimenRotate1() {
-        rotate1.setPosition(ROTATE_MOTOR_HIGH_SPECIMEN_SCORING_POSITION1);
-        rotate2.setPosition(ROTATE_MOTOR_HIGH_SPECIMEN_SCORING_POSITION1);
-    }
-
-    public void highSpecimenSlides1() {
-        slides.setPosition(SLIDES_MOTOR_HIGH_SPECIMEN_SCORING_POSITION1);
-    }
-
-    public void highSpecimenRotate2() {
-        rotate1.setPosition(ROTATE_MOTOR_HIGH_SPECIMEN_SCORING_POSITION2);
-        rotate2.setPosition(ROTATE_MOTOR_HIGH_SPECIMEN_SCORING_POSITION2);
-    }
-
-    public void highSpecimenSlides2() {
-        slides.setPosition(SLIDES_MOTOR_HIGH_SPECIMEN_SCORING_POSITION2);
-    }
-
     //intake position
     public void setArmToIntake() {
         setArmPos(ROTATE_MOTOR_INTAKE_POSITION);
     }
 
-    public void intakeRotateSpecimen() {
-        rotate1.setPosition(ROTATE_MOTOR_INTAKE_SPECIMEN_POSITION);
-        rotate2.setPosition(ROTATE_MOTOR_INTAKE_SPECIMEN_POSITION);
-    }
-
     @Override
     public void periodic() {
         armPos = getArmCurrentPos();