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Servo pos change and sleeps reduced #36

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merged 6 commits into from
Dec 21, 2024
Merged

Servo pos change and sleeps reduced #36

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cd1e1c3
servo values update
shuban-789 Dec 21, 2024
121def7
stuff
abirarun Dec 21, 2024
58bf5e6
modificashuns for reset claw and stuff
abirarun Dec 21, 2024
cec5a1f
clawpositonchangetoclosenicely
abirarun Dec 21, 2024
3b7b066
clawpositonchangetoclosenicely
abirarun Dec 21, 2024
37d3c0c
asynchronize
penguinencounter Dec 21, 2024
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6 changes: 3 additions & 3 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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24 changes: 13 additions & 11 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
}

//////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -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(() -> {
Expand Down Expand Up @@ -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);
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