From e8d28b9e5ff55a83a7d03cfd4602f25e1e0a020a Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Sat, 28 Feb 2026 00:10:33 -0600 Subject: [PATCH] revert --- .../ftc/teamcode/autonomous/Auto_LT_Close.java | 2 +- .../ftc/teamcode/autonomous/Auto_LT_Far.java | 2 +- .../ftc/teamcode/constants/Back_Poses.java | 4 ++-- .../ftc/teamcode/constants/Front_Poses.java | 2 +- .../ftc/teamcode/teleop/TeleopV3.java | 4 ++-- .../ftc/teamcode/utils/Spindexer.java | 15 ++++++++------- 6 files changed, 15 insertions(+), 14 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java index 1ac064d..fb9ca7f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java @@ -180,7 +180,7 @@ public class Auto_LT_Close extends LinearOpMode { servos.setTransferPos(transferServo_out); limelightUsed = false; - Spindexer.teleop = false; +// Spindexer.teleop = false; robot.light.setPosition(1); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java index 5d7a25d..1ee944f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java @@ -123,7 +123,7 @@ public class Auto_LT_Far extends LinearOpMode { turret = new Turret(robot, TELE, robot.limelight); - Spindexer.teleop = false; +// Spindexer.teleop = false; while (opModeInInit()) { diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java index 05190f4..654d02d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java @@ -8,7 +8,7 @@ public class Back_Poses { public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50; public static double rShootX = 100, rShootY = 60, rShootH = 145.2; - public static double bShootX = 100, bShootY = -55, bShootH = -145.2; + public static double bShootX = 100, bShootY = -60, bShootH = -145.2; public static double rStackPickupFarAX = 73, rStackPickupFarAY = 51, rStackPickupFarAH = 145; public static double bStackPickupFarAX = 73, bStackPickupFarAY = -51, bStackPickupFarAH = -145; @@ -23,7 +23,7 @@ public class Back_Poses { public static double bStackPickupMiddleBX = 45, bStackPickupMiddleBY = -49, bStackPickupMiddleBH = -145.1; public static double rPickupGateXA = 60, rPickupGateYA = 83, rPickupGateHA = 145; - public static double bPickupGateXA = 70, bPickupGateYA = -90, bPickupGateHA = -145; + public static double bPickupGateXA = 60, bPickupGateYA = -83, bPickupGateHA = -145; public static double rPickupGateXB = 84, rPickupGateYB = 76, rPickupGateHB = 145; public static double bPickupGateXB = 84, bPickupGateYB = -76, bPickupGateHB = -145; public static double rPickupGateXC = 50, rPickupGateYC = 83, rPickupGateHC = 190; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java index 9a8274f..10d140f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java @@ -14,7 +14,7 @@ public class Front_Poses { public static double bx2a = 41, by2a = -18, bh2a = -140; public static double rx2b = 21, ry2b = 34, rh2b = 140.1; - public static double bx2b = 23, by2b = -36, bh2b = -140.1; + public static double bx2b = 23, by2b = -34, bh2b = -140.1; public static double rx3a = 55, ry3a = 39, rh3a = 140; public static double bx3a = 55, by3a = -39, bh3a = -140; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java index 40b3784..6dc4a9b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java @@ -155,13 +155,13 @@ public class TeleopV3 extends LinearOpMode { shootAll = false; servo.setTransferPos(transferServo_out); - //light.setState(StateEnums.LightState.BALL_COUNT); + light.setState(StateEnums.LightState.BALL_COUNT); } else if (gamepad2.triangle){ //light.setState(StateEnums.LightState.BALL_COLOR); } else { - //light.setState(StateEnums.LightState.GOAL_LOCK); + light.setState(StateEnums.LightState.BALL_COUNT); } //TURRET TRACKING diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java index f7d707d..7b11bb8 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java @@ -525,7 +525,6 @@ public class Spindexer { break; case SHOOTWAIT: - double shootWaitMax = 4; // Stopping when we get to the new position if (prevIntakeState != currentIntakeState) { if (commandedIntakePosition==2) { @@ -550,26 +549,30 @@ public class Spindexer { case SHOOT_PREP_CONTINOUS: if (servos.spinEqual(spinStartPos)){ + servos.setTransferPos(transferServo_in); currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS; } else { + servos.setTransferPos(transferServo_out); servos.setSpinPos(spinStartPos); } break; case SHOOT_CONTINOUS: - servos.setTransferPos(transferServo_in); + whileShooting = true; ballPositions[0].isEmpty = false; ballPositions[1].isEmpty = false; ballPositions[2].isEmpty = false; if (servos.getSpinPos() > spinEndPos){ - currentIntakeState = IntakeState.FINDNEXT; + whileShooting = false; servos.setTransferPos(transferServo_out); + shootTicks = 0; + currentIntakeState = IntakeState.FINDNEXT; } else { double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease; if (spinPos > spinEndPos + 0.03){ spinPos = spinEndPos + 0.03; } - moveSpindexerToPos(spinPos); + servos.setSpinPos(spinPos); } break; @@ -679,10 +682,8 @@ public class Spindexer { return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor; } private double prevPow = 0.501; - private boolean firstIntakePow = true; public void setIntakePower(double pow){ - if (firstIntakePow || prevPow != pow){ - firstIntakePow = false; + if (prevPow != 0.501 && prevPow != pow){ robot.intake.setPower(pow); } prevPow = pow;