Merge remote-tracking branch 'origin/add-tilt' into cowtown-work

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java

@@ -28,6 +28,8 @@ public class TeleopV4 extends LinearOpMode {
     Turret turret;
     Flywheel flywheel;
 
+    ParkTilter parkTilter;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -47,6 +49,8 @@ public class TeleopV4 extends LinearOpMode {
         flywheel = new Flywheel(robot);
         turret = new Turret(robot);
 
+        parkTilter = new ParkTilter(robot);
+
 
         shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel);
         shooter.setState(Shooter.ShooterState.TRACK_GOAL);
@@ -102,6 +106,12 @@ public class TeleopV4 extends LinearOpMode {
                 );
             }
 
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
             TELE.update();
         }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/ParkTilter.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+
+public class ParkTilter {
+    Robot robot;
+    public ParkTilter (Robot rob) {
+        this.robot = rob;
+    }
+
+    public void park() {
+        robot.setTilt1Pos(ServoPositions.tilt1_down);
+        robot.setTilt2Pos(ServoPositions.tilt2_down);
+    }
+
+    public void unpark() {
+        robot.setTilt1Pos(ServoPositions.tilt1_up);
+        robot.setTilt2Pos(ServoPositions.tilt2_up);
+    }
+}