KeshavAnandCode/FTCDecodeMain
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fixed some flywheel stuff

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This commit is contained in:
DanTheMan-byte
2026-01-13 19:50:24 -06:00
parent 58e7289c7b
commit de52f86280
2 changed files with 11 additions and 9 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -16,7 +16,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit; import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
import org.firstinspires.ftc.teamcode.utils.Servos; import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -29,7 +29,7 @@ public class TeleopV3 extends LinearOpMode {
Robot robot; Robot robot;
MultipleTelemetry TELE; MultipleTelemetry TELE;
Servos servo; Servos servo;
Flywheel flywheel; FlywheelV2 flywheel;
MecanumDrive drive; MecanumDrive drive;
public static double manualVel = 3000; public static double manualVel = 3000;
@@ -99,7 +99,7 @@ public class TeleopV3 extends LinearOpMode {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry()); TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
servo = new Servos(hardwareMap); servo = new Servos(hardwareMap);
flywheel = new Flywheel(); flywheel = new FlywheelV2();
drive = new MecanumDrive(hardwareMap, teleStart); drive = new MecanumDrive(hardwareMap, teleStart);
if (redAlliance) { if (redAlliance) {
@@ -256,7 +256,7 @@ public class TeleopV3 extends LinearOpMode {
//SHOOTER: //SHOOTER:
double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition()); double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
robot.shooter1.setPower(powPID); robot.shooter1.setPower(powPID);
robot.shooter2.setPower(powPID); robot.shooter2.setPower(powPID);

12
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
View File

@@ -9,7 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx; import com.qualcomm.robotcore.hardware.DcMotorEx;
import org.firstinspires.ftc.teamcode.utils.Flywheel; import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
import org.firstinspires.ftc.teamcode.utils.Robot; import org.firstinspires.ftc.teamcode.utils.Robot;
@Config @Config
@@ -26,7 +26,7 @@ public class ShooterTest extends LinearOpMode {
public static double turretPos = 0.501; public static double turretPos = 0.501;
public static boolean shoot = false; public static boolean shoot = false;
Robot robot; Robot robot;
Flywheel flywheel; FlywheelV2 flywheel;
@Override @Override
public void runOpMode() throws InterruptedException { public void runOpMode() throws InterruptedException {
@@ -34,7 +34,7 @@ public class ShooterTest extends LinearOpMode {
robot = new Robot(hardwareMap); robot = new Robot(hardwareMap);
DcMotorEx leftShooter = robot.shooter1; DcMotorEx leftShooter = robot.shooter1;
DcMotorEx rightShooter = robot.shooter2; DcMotorEx rightShooter = robot.shooter2;
flywheel = new Flywheel(); flywheel = new FlywheelV2();
MultipleTelemetry TELE = new MultipleTelemetry( MultipleTelemetry TELE = new MultipleTelemetry(
telemetry, FtcDashboard.getInstance().getTelemetry() telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -50,7 +50,7 @@ public class ShooterTest extends LinearOpMode {
rightShooter.setPower(parameter); rightShooter.setPower(parameter);
leftShooter.setPower(parameter); leftShooter.setPower(parameter);
} else if (mode == 1) { } else if (mode == 1) {
double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition()); double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
rightShooter.setPower(powPID); rightShooter.setPower(powPID);
leftShooter.setPower(powPID); leftShooter.setPower(powPID);
TELE.addData("PIDPower", powPID); TELE.addData("PIDPower", powPID);
@@ -71,7 +71,9 @@ public class ShooterTest extends LinearOpMode {
} else { } else {
robot.transferServo.setPosition(transferServo_out); robot.transferServo.setPosition(transferServo_out);
} }
TELE.addData("Velocity", flywheel.getVelo()); TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
TELE.addData("Velocity 1", flywheel.getVelo1());
TELE.addData("Velocity 2", flywheel.getVelo2());
TELE.addData("Power", robot.shooter1.getPower()); TELE.addData("Power", robot.shooter1.getPower());
TELE.addData("Steady?", flywheel.getSteady()); TELE.addData("Steady?", flywheel.getSteady());
TELE.addData("Position", robot.shooter1.getCurrentPosition()); TELE.addData("Position", robot.shooter1.getCurrentPosition());