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rejecter

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This commit is contained in:
DanTheMan-byte
2025-11-07 20:22:41 -06:00
parent 03d72af8d2
commit ee2208922b
2 changed files with 33 additions and 1 deletions
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27
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Rejecter.java Normal file
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@@ -0,0 +1,27 @@
package org.firstinspires.ftc.teamcode.subsystems;
import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.teamcode.utils.Robot;
public class Rejecter implements Subsystem{
private final Servo servo;
public double rpos = 0.5;
public Rejecter(Robot robot){
this.servo = robot.rejecter;
}
public void rejecterPos(double pos){
this.rpos = pos;
}
@Override
public void update() {
this.servo.setPosition(rpos);
}
}

7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
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@@ -11,6 +11,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain; import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
import org.firstinspires.ftc.teamcode.subsystems.Intake; import org.firstinspires.ftc.teamcode.subsystems.Intake;
import org.firstinspires.ftc.teamcode.subsystems.Rejecter;
import org.firstinspires.ftc.teamcode.subsystems.Shooter; import org.firstinspires.ftc.teamcode.subsystems.Shooter;
import org.firstinspires.ftc.teamcode.subsystems.Spindexer; import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
import org.firstinspires.ftc.teamcode.subsystems.Transfer; import org.firstinspires.ftc.teamcode.subsystems.Transfer;
@@ -22,6 +23,7 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
public class TeleopV1 extends LinearOpMode { public class TeleopV1 extends LinearOpMode {
public static double rpos = 0.5;
Robot robot; Robot robot;
@@ -29,6 +31,8 @@ public class TeleopV1 extends LinearOpMode {
Intake intake; Intake intake;
Rejecter rejecter;
Spindexer spindexer; Spindexer spindexer;
Transfer transfer; Transfer transfer;
@@ -123,7 +127,6 @@ public class TeleopV1 extends LinearOpMode {
transfer = new Transfer(robot); transfer = new Transfer(robot);
spindexer = new Spindexer(robot, TELE); spindexer = new Spindexer(robot, TELE);
shooter = new Shooter(robot, TELE); shooter = new Shooter(robot, TELE);
@@ -141,6 +144,8 @@ public class TeleopV1 extends LinearOpMode {
intake(); intake();
rejecter.rejecterPos(rpos);
drivetrain.update(); drivetrain.update();
TELE.update(); TELE.update();