Merge pull request #111 from rh-robotics/teo-open-claw-auto

Minor Change - Makes Claws Open Automatically
rh-robotics · Mar 7, 2024 · e10f936 · e10f936
2 parents c6cc361 + 6c35c68
commit e10f936
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java
@@ -186,12 +186,7 @@ public void elapsedTimeSleep(int milliseconds) {
         while (sleepTime.milliseconds() < milliseconds) {
             pulleyLComponent.moveUsingPID();
             pulleyRComponent.moveUsingPID();
-
-            telemetry.addData("sleeping", "true");
-            telemetry.update();
         }
-        telemetry.addData("sleeping", "slept");
-        telemetry.update();
     }
 
     // ------ Function to Initialize TensorFlow Object Detection ------ //
@@ -223,10 +218,7 @@ public Location detectElement(AllianceColor allianceColor) {
             x = (recognition.getLeft() + recognition.getRight()) / 2;
             y = (recognition.getTop() + recognition.getBottom()) / 2;
 
-            telemetry.addData("", " ");
-            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
             telemetry.addData("- Position", "%.0f / %.0f", x, y);
-            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
         }
 
         switch (allianceColor) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java
@@ -381,6 +381,10 @@ private void deliveryPosition() {
     private void intakePosition() {
         wristPosition = HWC.wristIntakePos;
         passoverPosition = HWC.passoverIntakePos;
+
+        robot.toggleClaw('L');
+        robot.toggleClaw('R');
+
         slideHeight = 0;
     }
 }