intake coded

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

@@ -0,0 +1,16 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ServoVars {
+
+
+    //Standard Naming Convention: servoName_VarInSentenceCase
+
+    public static double turret_Range = 355; //In Degrees
+    public static double turret_GearRatio = 0.9974;
+
+    public static double rejecter_Out = 1.0;
+    public static double rejecter_In = 0.0;
+}

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

@@ -13,17 +13,17 @@ import java.util.Objects;
 
 public class Drivetrain implements Subsystem {
 
-    private GamepadEx gamepad;
+    private final GamepadEx gamepad;
 
     public MultipleTelemetry TELE;
 
     private String Mode = "Default";
 
-    private DcMotorEx fl;
+    private final DcMotorEx fl;
 
-    private DcMotorEx fr;
+    private final DcMotorEx fr;
-    private DcMotorEx bl;
+    private final DcMotorEx bl;
-    private DcMotorEx br;
+    private final DcMotorEx br;
 
     private double defaultSpeed = 0.7;
 

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

@@ -1,27 +1,56 @@
 package org.firstinspires.ftc.teamcode.subsystems;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoVars.*;
+
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.gamepad.GamepadEx;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.Gamepad;
-import com.rowanmcalpin.nextftc.core.Subsystem;
+import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
-public class Intake extends Subsystem {
+public class Intake implements Subsystem {
-
-    private GamepadEx gamepad;
 
     public MultipleTelemetry TELE;
 
 
-    private DcMotorEx intake;
+    private final DcMotorEx intake;
 
+    private final Servo kicker;
 
-    public Intake (Robot robot, MultipleTelemetry telemetry, GamepadEx gamepad){
+    private double intakePower = 0.0;
 
+    private double kickerPos = 0.0;
 
+    public Intake (Robot robot, MultipleTelemetry telemetry){
 
+        this.intake = robot.intake;
+        this.kicker = robot.rejecter;
 
     }
+
+    public void setIntakePower (double pow){
+        this.intakePower = pow;
     }
+
+    public double getIntakePower() {
+        return this.intakePower;
+    }
+
+    public void kickOut (){
+        this.kickerPos = rejecter_Out;
+    }
+
+    public void kickIn (){
+        this.kickerPos = rejecter_In;
+    }
+
+    @Override
+    public void update() {
+        kicker.setPosition(kickerPos);
+        intake.setPower(intakePower);
+    }
+}
+
+

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.subsystems;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoVars.*;
+
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.arcrobotics.ftclib.controller.PIDController;
@@ -210,7 +212,6 @@ public class Shooter implements Subsystem {
 
 
 
-        //0.9974 * 355
 
 
     }
@@ -224,7 +225,7 @@ public class Shooter implements Subsystem {
             deltaAngle +=360;
         }
 
-        deltaAngle /= (0.9974*355);
+        deltaAngle /= (turret_GearRatio*turret_Range);
 
         return (0.5+deltaAngle) ;