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Minor Change - Makes Claws Open Automatically #111

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Mar 7, 2024
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Minor Change - Makes Claws Open Automatically #111

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2429695
New Drive Equations
DragonDev07 Feb 28, 2024
c74b975
Merge Master
DragonDev07 Feb 29, 2024
6c35c68
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DragonDev07 Mar 6, 2024
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8 changes: 4 additions & 4 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/auton/AutonomousV1.java
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@ public void init_loop() {

// Drive to Left Line
toDepositLeft = robot.drive.trajectoryBuilder(START_POSE_RED)
.lineToLinearHeading(new Pose2d(9, -40, Math.toRadians(135)))
.splineToLinearHeading(new Pose2d(8, -39, Math.toRadians(135)), Math.toRadians(135))
.build();

// Drive to Backboard from Center
Expand All @@ -123,7 +123,7 @@ public void init_loop() {

// Drive to Backboard from Left
toBackboardFromLeft = robot.drive.trajectoryBuilder(toDepositLeft.end())
.lineToLinearHeading(new Pose2d(49, -30, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(49, -28, Math.toRadians(180)))
.build();

// Park from Backboard Center
Expand Down Expand Up @@ -159,7 +159,7 @@ public void init_loop() {

// Drive to Left Line
toDepositRight = robot.drive.trajectoryBuilder(START_POSE_BLUE)
.splineToLinearHeading(new Pose2d(7, 39, Math.toRadians(225)), Math.toRadians(225))
.splineToLinearHeading(new Pose2d(8, 39, Math.toRadians(225)), Math.toRadians(225))
.build();

// Drive to Backboard from Center
Expand All @@ -169,7 +169,7 @@ public void init_loop() {

// Drive to Backboard from Right
toBackboardFromLeft = robot.drive.trajectoryBuilder(toDepositLeft.end())
.lineToLinearHeading(new Pose2d(49, 41, Math.toRadians(180)))
.lineToLinearHeading(new Pose2d(49, 42, Math.toRadians(180)))
.build();

// Drive to Backboard from Left
Expand Down
10 changes: 1 addition & 9 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ public enum Location {
}

// ------ Declare Slide Positions ------ //
public static int[] slidePositions = { 0, -964, -2110, -3460};
public static int[] slidePositions = { 0, -482, -2110, -3460};

// ------ Declare Servo Positions ------ //
public static double passoverDeliveryPos = 0.2;
Expand Down Expand Up @@ -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 ------ //
Expand Down Expand Up @@ -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) {
Expand Down
8 changes: 6 additions & 2 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java
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Original file line number Diff line number Diff line change
Expand Up @@ -148,8 +148,8 @@ public void loop() {
double frontRightPower;
double backLeftPower;
double backRightPower;
double drive = -gamepad1.left_stick_y;
double strafe = gamepad1.left_stick_x;
double drive = -robot.currentGamepad1.left_stick_y;
double strafe = robot.currentGamepad1.left_stick_x;
double turn = (robot.currentGamepad1.left_trigger - robot.currentGamepad1.right_trigger) * turnSpeed;
passoverPosition = robot.passoverArmLeft.getPosition();
wristPosition = robot.wrist.getPosition();
Expand Down Expand Up @@ -381,6 +381,10 @@ private void deliveryPosition() {
private void intakePosition() {
wristPosition = HWC.wristIntakePos;
passoverPosition = HWC.passoverIntakePos;

robot.toggleClaw('L');
robot.toggleClaw('R');

slideHeight = 0;
}
}
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