Added ShooterTest.java

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

@@ -0,0 +1,88 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+
+
+@TeleOp
+@Config
+public class ShooterTest extends LinearOpMode {
+
+    Robot robot;
+
+    public static double pow = 0.0;
+    public static double vel = 0.0;
+
+    public static int pos = 0;
+    public static double posPower = 0.0;
+
+    public static double p = 0.000003, i = 0, d = 0.000001;
+
+
+    public static String mode = "MANUAL";
+
+    public static int posTolerance = 40;
+
+    public static double servoPosition = 0.501;
+
+    MultipleTelemetry TELE;
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        Shooter shooter = new Shooter(robot, TELE);
+
+        shooter.setTelemetryOn(true);
+
+        shooter.setMode(mode);
+
+
+        shooter.setControllerCoefficients(p, i, d);
+
+
+        waitForStart();
+
+        if(isStopRequested()) return;
+
+
+        while(opModeIsActive()){
+
+            shooter.setControllerCoefficients(p, i, d);
+
+            shooter.setMode(mode);
+
+            shooter.setManualPower(pow);
+
+            shooter.setVelocity(vel);
+
+            shooter.setTargetPosition(pos);
+
+            shooter.setTolerance(posTolerance);
+
+            shooter.setPosPower(posPower);
+
+            if (servoPosition!=0.501) {shooter.setServoPosition(servoPosition);}
+
+
+            shooter.update();
+
+            TELE.update();
+
+
+        }
+
+
+
+    }
+}