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added control to spindexer speed

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This commit is contained in:
DanTheMan-byte
2026-02-28 11:31:32 -06:00
parent a1340c5388
commit 6743481440
2 changed files with 15 additions and 5 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -19,7 +19,7 @@ public class ServoPositions {
public static double spinStartPos = 0.05;
public static double spinEndPos = 0.95;
public static double shootAllSpindexerSpeedIncrease = 0.008;
public static double shootAllSpindexerSpeedIncrease = 0.009;
public static double transferServo_out = 0.15;

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -16,6 +17,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
import org.firstinspires.ftc.teamcode.constants.StateEnums;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Drivetrain;
@@ -157,9 +159,10 @@ public class TeleopV3 extends LinearOpMode {
light.setState(StateEnums.LightState.BALL_COUNT);
} else if (gamepad2.triangle){
//} else if (gamepad2.triangle){
//light.setState(StateEnums.LightState.BALL_COLOR);
//}
} else {
light.setState(StateEnums.LightState.BALL_COUNT);
}
@@ -188,7 +191,7 @@ public class TeleopV3 extends LinearOpMode {
//RELOCALIZATION
if (gamepad2.squareWasPressed()){
if (gamepad2.triangleWasPressed()){
relocalize = !relocalize;
gamepad2.rumble(500);
}
@@ -197,7 +200,7 @@ public class TeleopV3 extends LinearOpMode {
turret.relocalize();
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
yOffset = (turret.getLimelightX() * 39.3701) - robY;
hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
//hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
} else {
turret.trackGoal(deltaPose);
}
@@ -265,8 +268,15 @@ public class TeleopV3 extends LinearOpMode {
if (gamepad2.crossWasPressed()) {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
gamepad2.rumble(200);
sleep(500);
}
if (gamepad2.squareWasPressed()){
shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease-0.01;
} else if (gamepad2.circleWasPressed()){
shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease+0.01;
}
if (enableSpindexerManager) {