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Added spindexer to teleopv4

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This commit is contained in:
Keshav Anand
2026-06-02 17:18:04 -05:00
parent ae25df0393
commit 180e7629bf
3 changed files with 60 additions and 1 deletions
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55
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
View File

@@ -1,11 +1,19 @@
package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
import org.firstinspires.ftc.teamcode.utilsv2.*;
@TeleOp
@@ -13,7 +21,10 @@ import org.firstinspires.ftc.teamcode.utilsv2.*;
public class TeleopV4 extends LinearOpMode {
Robot robot;
Drivetrain drivetrain;
Shooter shooter;
MultipleTelemetry TELE;
Follower follower;
SpindexerTransferIntake spindexerTransferIntake;
@Override
public void runOpMode() throws InterruptedException {
@@ -24,6 +35,15 @@ public class TeleopV4 extends LinearOpMode {
);
drivetrain = new Drivetrain(robot, TELE);
follower = Constants.createFollower(hardwareMap);
Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
follower.setStartingPose(start);
shooter = new Shooter(robot, TELE, follower, Color.redAlliance);
shooter.setState(Shooter.ShooterState.TRACK_GOAL);
spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE);
spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
waitForStart();
@@ -39,6 +59,41 @@ public class TeleopV4 extends LinearOpMode {
gamepad1.left_stick_x
);
shooter.update();
spindexerTransferIntake.update();
SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
if (gamepad1.xWasPressed() &&
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
}
if (gamepad1.aWasPressed() &&
(state == SpindexerTransferIntake.RapidMode.INTAKE ||
state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
spindexerTransferIntake.setRapidMode(
SpindexerTransferIntake.RapidMode.HOLD_BALLS
);
}
if (gamepad1.yWasPressed()
&& state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
spindexerTransferIntake.setRapidMode(
SpindexerTransferIntake.RapidMode.INTAKE
);
}
TELE.update();

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
View File

@@ -45,7 +45,7 @@ public class Shooter {
private double flywheelVelocity = 0.0;
private double turretPosition = 0.5;
enum ShooterState {
public enum ShooterState {
READ_OBELISK,
TRACK_GOAL,
MANUAL_FLYWHEEL_TRACK_TURR,

4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
View File

@@ -51,6 +51,10 @@ public class SpindexerTransferIntake {
this.mode = spindexerMode;
}
public RapidMode getRapidState(){
return this.rapidMode;
}
private long stateTime() {
return System.currentTimeMillis() - stateStartTime;
}