KeshavAnandCode/FTCDecodeMain
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added transfer movement to class

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This commit is contained in:
DanTheMan-byte
2026-04-26 16:55:15 -05:00
parent 2a012ea3ae
commit fb0df810e8
1 changed files with 7 additions and 1 deletions
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8
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -382,6 +382,7 @@ public class Spindexer {
commandedIntakePosition = 0;
servos.setSpinPos(intakePositions[0]);
currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
servos.setTransferPos(transferServo_out);
break;
case UNKNOWN_MOVE:
// Stopping when we get to the new position
@@ -393,6 +394,7 @@ public class Spindexer {
// Keep moving the spindexer
servos.setSpinPos(intakePositions[commandedIntakePosition]);
}
servos.setTransferPos(transferServo_out);
break;
case UNKNOWN_DETECT:
if (unknownColorDetect >5) {
@@ -401,6 +403,7 @@ public class Spindexer {
//detectBalls(true, true);
unknownColorDetect++;
}
servos.setTransferPos(transferServo_out);
break;
case INTAKE:
// Ready for intake and Detecting a New Ball
@@ -412,6 +415,7 @@ public class Spindexer {
spindexerWiggle *= -1.0;
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
}
servos.setTransferPos(transferServo_out);
break;
case FINDNEXT:
// Find Next Open Position and start movement
@@ -443,8 +447,8 @@ public class Spindexer {
currentIntakeState = Spindexer.IntakeState.FULL;
}
servos.setSpinPos(intakePositions[commandedIntakePosition]);
servos.setTransferPos(transferServo_out);
break;
case MOVING:
// Stopping when we get to the new position
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
@@ -460,6 +464,7 @@ public class Spindexer {
// Keep moving the spindexer
servos.setSpinPos(intakePositions[commandedIntakePosition]);
}
servos.setTransferPos(transferServo_out);
break;
case FULL:
@@ -472,6 +477,7 @@ public class Spindexer {
// Maintain Position
spindexerWiggle *= -1.0;
servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
servos.setTransferPos(transferServo_out);
break;
case SHOOT_ALL_PREP: