teleop ground logic

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java

@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ShooterVars {
+    public static double turret_GearRatio = 0.9974;
+
+    public static double turret_Range = 355;
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java

@@ -43,8 +43,7 @@ public class Intake implements Subsystem {
     }
 
     public void intakeMinPower(){
-        intakePower = 0.5;
+        intakeState = 2;
-        intakeState = 1;
     }
 
     public void intake(){
@@ -57,7 +56,7 @@ public class Intake implements Subsystem {
 
 
     public void stop(){
-        intakeState =-1;
+        intakeState =0;
     }
 
 
@@ -70,6 +69,8 @@ public class Intake implements Subsystem {
             intake.setPower(intakePower);
         } else if (intakeState == -1){
             intake.setPower(-intakePower);
+        } else if (intakeState == 2){
+            intake.setPower(intakePower);
         }else {
             intake.setPower(0);
         }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java

@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.subsystems;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoVars.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
@@ -50,9 +50,9 @@ public class Shooter implements Subsystem {
 
 
 
-    private String shooterMode = "AUTO";
+    private String shooterMode = "MANUAL";
 
-    private String turretMode = "AUTO";
+    private String turretMode = "MANUAL";
 
 
     public Shooter(Robot robot, MultipleTelemetry TELE) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java

@@ -11,6 +11,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
 import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
 import org.firstinspires.ftc.teamcode.subsystems.Transfer;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -32,6 +33,8 @@ public class TeleopV1 extends LinearOpMode {
 
     Transfer transfer;
 
+    Shooter shooter;
+
     MultipleTelemetry TELE;
 
     GamepadEx g1;
@@ -42,16 +45,21 @@ public class TeleopV1 extends LinearOpMode {
 
     public static double slowMoSpeed = 0.4;
 
-    public static double power = 0.0;
+    public static double shooterPower = 0.0;
 
-    public static double pos = 0.501;
+    public static double turretPosition = 0.501;
+
+    public static double hoodPosition = 0.501;
 
     ToggleButtonReader g1RightBumper;
 
+    ToggleButtonReader g1LeftBumper;
+
     ToggleButtonReader g2Circle;
 
     ToggleButtonReader g2Square;
 
+    ToggleButtonReader g2LeftBumper;
 
     ToggleButtonReader g2Triangle;
     public double g1RightBumperStamp = 0.0;
@@ -78,6 +86,10 @@ public class TeleopV1 extends LinearOpMode {
             g1, GamepadKeys.Button.RIGHT_BUMPER
         );
 
+        g1LeftBumper = new ToggleButtonReader(
+                g1, GamepadKeys.Button.LEFT_BUMPER
+        );
+
         g2 = new GamepadEx(gamepad2);
 
         g2Circle  = new ToggleButtonReader(
@@ -92,6 +104,11 @@ public class TeleopV1 extends LinearOpMode {
                 g2, GamepadKeys.Button.X
         );
 
+        g2LeftBumper = new ToggleButtonReader(
+                g2, GamepadKeys.Button.LEFT_BUMPER
+        );
+
+
 
 
         drivetrain = new Drivetrain(robot, TELE, g1);
@@ -109,6 +126,8 @@ public class TeleopV1 extends LinearOpMode {
 
         spindexer = new Spindexer(robot, TELE);
 
+        shooter = new Shooter(robot, TELE);
+
         spindexer.setTelemetryOn(true);
 
         time = getRuntime();
@@ -126,7 +145,16 @@ public class TeleopV1 extends LinearOpMode {
 
             TELE.update();
 
-            transfer.update();
+            transfer();
+
+            shooter.setManualPower(shooterPower);
+
+            shooter.sethoodPosition(hoodPosition);
+
+            shooter.setTurretPosition(turretPosition);
+
+
+
 
 
 
@@ -171,22 +199,30 @@ public class TeleopV1 extends LinearOpMode {
 
         if (intake.getIntakeState()==1) {
             spindexer.intakeShake(getRuntime());
+            transfer.setTransferPowerOff();
+            transfer.setTransferPositionOff();
         } else {
 
 
             if (g2Circle.wasJustPressed()){
+                transfer.setTransferPositionOff();
                 intake.intakeMinPower();
                 spindexer.outtake3();
+                transfer.setTransferPowerOn();
             }
 
             if (g2Triangle.wasJustPressed()){
+                transfer.setTransferPositionOff();
                 intake.intakeMinPower();
                 spindexer.outtake2();
+                transfer.setTransferPowerOn();
             }
 
             if (g2Square.wasJustPressed()){
+                transfer.setTransferPositionOff();
                 intake.intakeMinPower();
                 spindexer.outtake1();
+                transfer.setTransferPowerOn();
             }
 
         }
@@ -194,7 +230,7 @@ public class TeleopV1 extends LinearOpMode {
         intake.update();
 
 
-
+        transfer.update();
 
         spindexer.update();
 
@@ -202,5 +238,17 @@ public class TeleopV1 extends LinearOpMode {
 
 
 
+    }
+
+    public void transfer(){
+
+        g1LeftBumper.readValue();
+
+        if (g1LeftBumper.wasJustPressed()){
+            transfer.setTransferPositionOn();
+        }
+
+        transfer.update();
+
     }
 }