KeshavAnandCode/FTCDecodeMain
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DanTheMan-byte
2026-01-02 13:31:00 -06:00
parent 0bf392f81f
commit 07297c60f1
3 changed files with 13 additions and 6 deletions
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15
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.tests; package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import com.acmerobotics.dashboard.FtcDashboard; import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config; import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -19,14 +21,13 @@ public class ShooterTest extends LinearOpMode {
// --- CONSTANTS YOU TUNE --- // --- CONSTANTS YOU TUNE ---
//TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
public static double transferPower = 0.0; public static double transferPower = 1.0;
public static double hoodPos = 0.501; public static double hoodPos = 0.501;
public static double turretPos = 0.501; public static double turretPos = 0.501;
public static boolean shoot = false;
Robot robot; Robot robot;
Flywheel flywheel; Flywheel flywheel;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@@ -48,7 +49,6 @@ public class ShooterTest extends LinearOpMode {
rightShooter.setPower(parameter); rightShooter.setPower(parameter);
leftShooter.setPower(parameter); leftShooter.setPower(parameter);
} else if (mode == 1) { } else if (mode == 1) {
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition()); double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
TELE.addData("Velocity", flywheel.getVelo()); TELE.addData("Velocity", flywheel.getVelo());
@@ -61,12 +61,17 @@ public class ShooterTest extends LinearOpMode {
robot.hood.setPosition(hoodPos); robot.hood.setPosition(hoodPos);
} }
if (turretPos!=0.501){ if (turretPos != 0.501) {
robot.turr1.setPosition(turretPos); robot.turr1.setPosition(turretPos);
robot.turr2.setPosition(turretPos); robot.turr2.setPosition(turretPos);
} }
robot.transfer.setPower(transferPower); robot.transfer.setPower(transferPower);
if (shoot) {
robot.transferServo.setPosition(transferServo_in);
} else {
robot.transferServo.setPosition(transferServo_out);
}
TELE.update(); TELE.update();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -7,8 +7,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
public class Flywheel { public class Flywheel {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
double initPos = 0.0; double initPos = 0.0;
double stamp = 0.0; double stamp = 0.0;
double stamp1 = 0.0; double stamp1 = 0.0;

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
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@@ -1,8 +1,10 @@
package org.firstinspires.ftc.teamcode.utils; package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.arcrobotics.ftclib.controller.PIDController; import com.arcrobotics.ftclib.controller.PIDController;
@Config
public class Servos { public class Servos {
PIDController spinPID; PIDController spinPID;