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teleop tweaks

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This commit is contained in:
DanTheMan-byte
2026-06-07 23:48:26 -05:00
parent 4cd890cef8
commit 855dac7122
2 changed files with 23 additions and 10 deletions
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31
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
View File

@@ -34,6 +34,8 @@ public class TeleopV4 extends LinearOpMode {
public static Pose teleStart = new Pose(0,0,0); public static Pose teleStart = new Pose(0,0,0);
private boolean firstTickFull = true; private boolean firstTickFull = true;
private boolean intakeFull = true;
private boolean shooting = false;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@@ -102,6 +104,7 @@ public class TeleopV4 extends LinearOpMode {
if (isStopRequested()) return; if (isStopRequested()) return;
int emptyTicks = 0;
while (opModeIsActive()) { while (opModeIsActive()) {
//Drivetrain //Drivetrain
drivetrain.drive( drivetrain.drive(
@@ -141,18 +144,18 @@ public class TeleopV4 extends LinearOpMode {
if (gamepad1.triangleWasPressed()){ if (gamepad1.triangleWasPressed()){
VelocityCommander.lockFront = true; VelocityCommander.lockFront = true;
VelocityCommander.lockBack = false; VelocityCommander.lockBack = false;
TELE.addData("Front?:", VelocityCommander.lockFront); TELE.addData("Front?:", true);
TELE.addData("Back?:", VelocityCommander.lockBack); TELE.addData("Back?:", false);
} else if (gamepad1.squareWasPressed()){ } else if (gamepad1.squareWasPressed()){
VelocityCommander.lockBack = true; VelocityCommander.lockBack = true;
VelocityCommander.lockFront = false; VelocityCommander.lockFront = false;
TELE.addData("Front?:", VelocityCommander.lockFront); TELE.addData("Front?:", false);
TELE.addData("Back?:", VelocityCommander.lockBack); TELE.addData("Back?:", true);
} else if (gamepad1.circleWasPressed()){ } else if (gamepad1.circleWasPressed()){
VelocityCommander.lockBack = false; VelocityCommander.lockBack = false;
VelocityCommander.lockFront = false; VelocityCommander.lockFront = false;
TELE.addData("Front?:", VelocityCommander.lockFront); TELE.addData("Front?:", false);
TELE.addData("Back?:", VelocityCommander.lockBack); TELE.addData("Back?:", true);
} }
shooter.update(robot.voltage.getVoltage()); shooter.update(robot.voltage.getVoltage());
@@ -169,11 +172,23 @@ public class TeleopV4 extends LinearOpMode {
state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) { state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE); spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
SpindexerTransferIntake.intakeFull = false; intakeFull = false;
firstTickFull = true;
shooting = true;
}
if (state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT){
shooting = false;
}
if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed() && !shooting){
intakeFull = true;
} else {
intakeFull = false;
firstTickFull = true; firstTickFull = true;
} }
if (SpindexerTransferIntake.intakeFull && firstTickFull){ if (intakeFull && firstTickFull){
gamepad1.rumble(100); gamepad1.rumble(100);
firstTickFull = false; firstTickFull = false;
} }

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

@@ -274,7 +274,6 @@ public class SpindexerTransferIntake {
private int greenTicks = 0; private int greenTicks = 0;
private int ballTicks = 0; private int ballTicks = 0;
private int holdBallsTicker = 0; private int holdBallsTicker = 0;
public static boolean intakeFull = true;
public void update() { public void update() {
// TELE.addData("Sorted State", sortedIntakeStates); // TELE.addData("Sorted State", sortedIntakeStates);
@@ -376,7 +375,6 @@ public class SpindexerTransferIntake {
robot.setTransferPower(0); robot.setTransferPower(0);
robot.setIntakePower(0.1); robot.setIntakePower(0.1);
robot.setTransferServoPos(ServoPositions.transferServo_in); robot.setTransferServoPos(ServoPositions.transferServo_in);
intakeFull = true;
} else { } else {
holdBallsTicker++; holdBallsTicker++;