Merge pull request #36 from GearUp12499-org/12-20-2024-code

Servo pos change and sleeps reduced
GearUp12499-org · Dec 21, 2024 · c63f518 · c63f518
2 parents 3f02f64 + 37d3c0c
commit c63f518
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Showing 2 changed files with 16 additions and 14 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -30,11 +30,11 @@ public class Hardware extends HardwareMapper implements TriOdoProvider {
     public static final double SLIDE_OUTWARD_TIME = 0.45; // seconds
     public static final double SLIDE_OVERSHOOT = 0.05;
     public static final double FLIP_DOWN = 0.05;
-    public static final double FRONT_OPEN = 0.33;
+    public static final double FRONT_OPEN = 0.25;
     public static final double FRONT_CLOSE = 0.07;
     public static final double FLIP_UP = 0.98;
-    public static final double CLAW_CLOSE = 0.02;
-    public static final double CLAW_OPEN = 0.55;
+    public static final double CLAW_CLOSE = 0.28;
+    public static final double CLAW_OPEN = 0.5;
     public static final double WRIST_UP = 0.42;
     public static final double WRIST_BACK = 0.30;
     public static final double ARM_POWER = 0.2;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
@@ -412,25 +412,27 @@ public void wrist() {
     }
 
     public void claw() {
-        final double open = 0.02;
-        final double close = 0.55;
         if (gamepad2.left_bumper) {
             abandonLock(Locks.ArmAssembly);
-            hardware.claw.setPosition(open);
+            hardware.claw.setPosition(Hardware.CLAW_OPEN);
         } else if (gamepad2.right_bumper) {
             abandonLock(Locks.ArmAssembly);
-            hardware.claw.setPosition(close);
+            hardware.claw.setPosition(Hardware.CLAW_CLOSE);
         }
     }
 
     public void resetAll() {
         abandonLock(Locks.ArmAssembly);
         abandonLock(liftProxy.CONTROL);
-        scheduler.add(liftProxy.moveTo(0, 5, 1.0));
-        scheduler.add(groupOf(it->it.add(run(() -> {
-            hardware.arm.setTargetPosition(0);
-            hardware.wrist.setPosition(Hardware.WRIST_UP);
-        })).then(await(700))).extraDepends(Locks.ArmAssembly));
+        scheduler.add(groupOf(it -> it.add(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
+                .then(await(200))
+                .then(run(() -> {
+                    hardware.arm.setTargetPosition(0);
+                    hardware.wrist.setPosition(Hardware.WRIST_UP);
+                }))
+                .then(await(200))
+                .then(liftProxy.moveTo(0, 5, 1.0))
+        ).extraDepends(Locks.ArmAssembly, liftProxy.CONTROL));
     }
 
     //////////////////////////////////////////////////////////////////////////////////////////////////
@@ -597,7 +599,7 @@ public void transferAndDrop() {
                         it -> it.add(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(35))))
                                 .then(await(1000))
                                 .then(run(() -> hardware.wrist.setPosition(0.75)))
-                                .then(await(250))
+                                .then(await(100))
                                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
                                 .then(await(500))
                                 .then(run(() -> {
@@ -675,7 +677,7 @@ public void transfer() {
     }
 
     private static class LiftProxy extends TaskTemplate {
-        private static final double SPEED = .75;
+        private static final double SPEED = 1.0;
         private static final int MAX_VERTICAL_LIFT_TICKS = 2300;
         private static final int MIN_VERTICAL_LIFT_TICKS = 0;
         private static final Set<SharedResource> requires = Set.of(Locks.VerticalSlide);