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Servo Testing in LearnBot #56

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merged 2 commits into from
Nov 2, 2024
Merged

Servo Testing in LearnBot #56

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8b4c091
LearnBot servoTestingOpmode - Maggie
TechnototesLaptop Nov 2, 2024
8c1d6ee
test bot, fixes used test subsystem
jachninja Nov 2, 2024
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6 changes: 3 additions & 3 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/Hardware.java
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Original file line number Diff line number Diff line change
Expand Up @@ -61,9 +61,9 @@ public Hardware(HardwareMap hwmap) {
if (Setup.Connected.SERVO) {
this.servo = new Servo(Setup.HardwareNames.SERVO);
}
if (Setup.Connected.COLOR_SENSOR) {
this.colorSensor = new ColorDistanceSensor(Setup.HardwareNames.COLOR);
}
// if (Setup.Connected.COLOR_SENSOR) {
// this.colorSensor = new ColorDistanceSensor(Setup.HardwareNames.COLOR);
// }
}
this.imu = new IMU(
Setup.HardwareNames.IMU,
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7 changes: 3 additions & 4 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/Robot.java
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Expand Up @@ -12,14 +12,13 @@ public class Robot implements Loggable {
public StartingPosition position;
public Alliance alliance;
public double initialVoltage;
public TestSubsystem test;
public DrivebaseSubsystem drivebaseSubsystem;

public PlacementSubsystem placementSubsystem;
public TestSubsystem testsubsystem;

public Robot(Hardware hw) {
this.initialVoltage = hw.voltage();
this.test = new TestSubsystem(hw);
this.testsubsystem = new TestSubsystem(hw);
if (Setup.Connected.DRIVEBASE) {
this.drivebaseSubsystem = new DrivebaseSubsystem(
hw.flMotor,
Expand All @@ -30,7 +29,7 @@ public Robot(Hardware hw) {
);
}
if (Setup.Connected.TESTSUBSYSTEM) {
this.test = new TestSubsystem(hw);
this.testsubsystem = new TestSubsystem(hw);
}
}
}
6 changes: 3 additions & 3 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/Setup.java
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Expand Up @@ -7,10 +7,10 @@ public class Setup {
@Config
public static class Connected {

public static boolean DRIVEBASE = true;
public static boolean TESTSUBSYSTEM = false;
public static boolean DRIVEBASE = false;
public static boolean TESTSUBSYSTEM = true;
public static boolean MOTOR = false;
public static boolean SERVO = false;
public static boolean SERVO = true;
public static boolean DISTANCE_SENSOR = false;
public static boolean COLOR_SENSOR = false;
public static boolean FLYWHEEL = false;
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29 changes: 29 additions & 0 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/commands/Test.java
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Expand Up @@ -2,10 +2,39 @@

import com.technototes.library.command.Command;
import com.technototes.library.command.MethodCommand;
import org.firstinspires.ftc.learnbot.Robot;
import org.firstinspires.ftc.learnbot.subsystems.TestSubsystem;

public class Test {

public static Command ServoMax(Robot r) {
if (r.testsubsystem == null) {
throw new RuntimeException("null testsubsystem in robot");
}
return Command.create(r.testsubsystem::servoMaxPos, r.testsubsystem);
}

public static Command ServoMin(Robot r) {
if (r.testsubsystem == null) {
throw new RuntimeException("null testsubsystem in robot");
}
return Command.create(r.testsubsystem::servoMinPos, r.testsubsystem);
}

public static Command ServoInc(Robot r) {
if (r.testsubsystem == null) {
throw new RuntimeException("null testsubsystem in robot");
}
return Command.create(r.testsubsystem::servoIncrement, r.testsubsystem);
}

public static Command ServoDec(Robot r) {
if (r.testsubsystem == null) {
throw new RuntimeException("null testsubsystem in robot");
}
return Command.create(r.testsubsystem::servoDecrement, r.testsubsystem);
}

public static Command ServoLeft(TestSubsystem ts) {
return new MethodCommand(TestSubsystem::servoLeft, ts);
}
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37 changes: 29 additions & 8 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/controllers/TestController.java
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Expand Up @@ -7,6 +7,8 @@
import org.firstinspires.ftc.learnbot.Robot;
import org.firstinspires.ftc.learnbot.commands.AnalogMotorControlCmd;
import org.firstinspires.ftc.learnbot.commands.EZCmd;
import org.firstinspires.ftc.learnbot.commands.Test;
import org.firstinspires.ftc.learnbot.subsystems.TestSubsystem;

public class TestController implements Loggable {

Expand All @@ -17,6 +19,10 @@ public class TestController implements Loggable {
public CommandButton servoright;
public CommandAxis motorAxis;
public CommandButton modeToggle;
public CommandButton servoMax;
public CommandButton servoMin;
public CommandButton servoInc;
public CommandButton servoDec;

public CommandButton liftLow, liftMid, liftHigh;

Expand All @@ -26,25 +32,40 @@ public class TestController implements Loggable {
public AnalogMotorControlCmd motorMovement;

public TestController(CommandGamepad g, Robot r) {
if (g == null) {
throw new RuntimeException("Null CommandGamepad in TestController");
}
if (r == null) {
throw new RuntimeException("Null robot in TestController");
}
this.gamepad = g;
this.robot = r;
this.liftLow = gamepad.ps_triangle;
this.liftMid = gamepad.ps_cross;
this.liftHigh = gamepad.ps_circle;
// this.liftLow = gamepad.ps_triangle;
// this.liftMid = gamepad.ps_cross;
// this.liftHigh = gamepad.ps_circle;
this.servoMax = gamepad.ps_triangle;
this.servoMin = gamepad.ps_cross;
this.servoInc = gamepad.dpadUp;
this.servoDec = gamepad.dpadDown;
// this.servoleft.whenPressed(new ServoLeft(r.test));
// this.servoright.whenPressed((new ServoRight(r.test)));
this.motorAxis = gamepad.rightStickY;
//this.motorAxis = gamepad.rightStickY;
this.modeToggle = gamepad.rightStickButton;
// this.motorMovement = new MotorMovementCommand(r.test, this.motorAxis);
// this.modeToggle.whenPressed(new ToggleMotorStopModeCommand(r.test));
// CommandScheduler.scheduleJoystick(motorMovement);
this.trigger = gamepad.leftTrigger;
//this.trigger = gamepad.leftTrigger;
this.threshold = gamepad.rightTrigger.getAsButton(0.5);
bindControls();
}

public void bindControls() {
liftLow.whenPressed(EZCmd.Placement.LiftLow(robot.placementSubsystem));
liftMid.whenPressed(EZCmd.Placement.LiftMedium(robot.placementSubsystem));
liftHigh.whenPressed(EZCmd.Placement.LiftHigh(robot.placementSubsystem));
// liftLow.whenPressed(EZCmd.Placement.LiftLow(robot.placementSubsystem));
// liftMid.whenPressed(EZCmd.Placement.LiftMedium(robot.placementSubsystem));
// liftHigh.whenPressed(EZCmd.Placement.LiftHigh(robot.placementSubsystem));
servoMax.whenPressed(Test.ServoMax(robot));
servoMin.whenPressed(Test.ServoMin(robot));
servoInc.whenPressed(Test.ServoInc(robot));
servoDec.whenPressed(Test.ServoDec(robot));
}
}
14 changes: 6 additions & 8 deletions ...pires/ftc/learnbot/opmodes/tele/Test.java → ...ftc/learnbot/opmodes/tele/TestOpmode.java
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Expand Up @@ -4,17 +4,15 @@
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.technototes.library.command.Command;
import com.technototes.library.command.CommandScheduler;
import com.technototes.library.logger.Loggable;
import com.technototes.library.structure.CommandOpMode;
import org.firstinspires.ftc.learnbot.Hardware;
import org.firstinspires.ftc.learnbot.Robot;
import org.firstinspires.ftc.learnbot.commands.TriggerTestCommand;
import org.firstinspires.ftc.learnbot.controllers.TestController;

@TeleOp(name = "Test")
@SuppressWarnings("unused")
public class Test extends CommandOpMode implements Loggable {
public class TestOpmode extends CommandOpMode implements Loggable {

public Robot robot;
public TestController testCtrl;
Expand All @@ -28,10 +26,10 @@ public void uponInit() {
hardware = new Hardware(hardwareMap);
robot = new Robot(hardware);
testCtrl = new TestController(driverGamepad, robot);
trigTest = new TriggerTestCommand(
driverGamepad.leftTrigger,
driverGamepad.leftTrigger.getAsButton(.5)
);
CommandScheduler.scheduleJoystick(trigTest);
// trigTest = new TriggerTestCommand(
// driverGamepad.leftTrigger,
// driverGamepad.leftTrigger.getAsButton(.5)
// );
// CommandScheduler.scheduleJoystick(trigTest);
}
}
23 changes: 23 additions & 0 deletions LearnBot/src/main/java/org/firstinspires/ftc/learnbot/subsystems/TestSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,29 @@ public TestSubsystem(Hardware hw) {
resetTicks();
}

public void servoIncrement() {
running = true;
servo.setPosition(servo.getPosition() + 0.1);
}

public void servoDecrement() {
running = true;
servo.setPosition(servo.getPosition() - 0.1);
}

public void servoMaxPos() {
if (servo == null) {
throw new RuntimeException("Null servo in TestSubsystem");
}
running = true;
servo.setPosition(1);
}

public void servoMinPos() {
running = true;
servo.setPosition(0);
}

public void servoLeft() {
running = true;
setPosition(0.5);
Expand Down
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