KeshavAnandCode/FTCDecodeMain
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lot of stuff to test tomorrow

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This commit is contained in:
DanTheMan-byte
2025-11-25 22:58:51 -06:00
parent bfa8b52ebc
commit d639530fa9
6 changed files with 54 additions and 19 deletions
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1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -16,7 +16,6 @@ public class ServoPositions {
public static double transferServo_out = 0.13;
public static double transferServo_in = 0.4;
public static double transferServoPos = 0.5;
public static double hoodDefault = 0.35;

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
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@@ -244,12 +244,5 @@ public class Shooter implements Subsystem {
}
if (Objects.equals(turretMode, "MANUAL")) {
hoodServo.setPosition(hoodPos);
moveTurret(turretPos);
}
}
}

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
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@@ -210,7 +210,6 @@ public class TeleopV1 extends LinearOpMode {
TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
TELE.addData("off", offset);
robot.transferServo.setPosition(transferServoPos);
robot.hood.setPosition(pos);

21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
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@@ -1,5 +1,7 @@
package org.firstinspires.ftc.teamcode.tests;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
import com.acmerobotics.dashboard.FtcDashboard;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -44,6 +46,8 @@ public class ShooterTest extends LinearOpMode {
public static int tolerance = 300;
public static boolean shoot = false;
MultipleTelemetry TELE;
@Override
@@ -77,14 +81,10 @@ public class ShooterTest extends LinearOpMode {
shooter.setManualPower(pow);
if (hoodPos != 0.501) {
robot.hood.setPosition(hoodPos);
}
robot.hood.setPosition(hoodPos);
robot.turr1.setPosition(turretPos);
robot.turr2.setPosition(turretPos);
if (turretPos != 0.501) {
robot.turr1.setPosition(turretPos);
robot.turr2.setPosition(turretPos);
}
velo1 = -60 * ((shooter.getECPRPosition() - initPos1) / (getRuntime() - stamp1));
stamp1 = getRuntime();
initPos1 = shooter.getECPRPosition();
@@ -96,6 +96,13 @@ public class ShooterTest extends LinearOpMode {
powPID = powPID - 0.001;
}
shooter.setVelocity(powPID);
robot.transfer.setPower((powPID / 2) + 0.5);
if (shoot){
robot.transferServo.setPosition(transferServo_in);
} else {
robot.transferServo.setPosition(transferServo_out);
}
shooter.update();

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
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@@ -9,11 +9,11 @@ import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
@TeleOp
public class ConfigureColorRangefinder extends LinearOpMode {
public static int LED_Brightness = 35; //1 - 35, 2 - 50,
public static int LED_Brightness = 50;
public static int lowerGreen = 90;
public static int lowerGreen = 100;
public static int higherGreen = 160;
public static int higherGreen = 150;
@Override
public void runOpMode() throws InterruptedException {

37
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java Normal file
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@@ -0,0 +1,37 @@
package org.firstinspires.ftc.teamcode.utils;
import com.acmerobotics.dashboard.config.Config;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@TeleOp
@Config
public class PositionalServoProgrammer extends LinearOpMode {
Robot robot;
public static double spindexPos = 0.501;
public static double turretPos = 0.501;
public static double transferPos = 0.501;
public static double hoodPos = 0.501;
@Override
public void runOpMode() throws InterruptedException {
robot = new Robot(hardwareMap);
waitForStart();
if (isStopRequested()) return;
while (opModeIsActive()){
if (spindexPos != 0.501){
robot.spin1.setPosition(spindexPos);
robot.spin2.setPosition(1-spindexPos);
}
if (turretPos != 0.501){
robot.turr1.setPosition(turretPos);
robot.turr2.setPosition(1-turretPos);
}
if (transferPos != 0.501){
robot.transferServo.setPosition(transferPos);
}
if (hoodPos != 0.501){
robot.hood.setPosition(hoodPos);
}
}
}
}