ItayKauf - fix

GreenBlitz · Jun 14, 2024 · 87ed6ae · 87ed6ae
1 parent 3b2b3f9
commit 87ed6ae
Show file tree

Hide file tree

Showing 3 changed files with 35 additions and 17 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
@@ -20,11 +20,11 @@ public static Robot getInstance() {
     }
 
     //add subsystems...
-    public Claw CLAW;
+    public Claw claw;
 
     public void initSubsystems(HardwareMap hardwareMap) {
         // init all subsystems...
-        this.CLAW = new Claw(hardwareMap);
+        this.claw = new Claw(hardwareMap);
     }
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/claw/Claw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/claw/Claw.java
@@ -33,7 +33,7 @@ public void toggleLeftClaw() {
     }
 
     public void switchClaws() {
-        Finger switchFinger = rightFinger;
+        Finger switchFinger = new Finger(rightFinger);
         rightFinger = leftFinger;
         leftFinger = switchFinger;
     }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/claw/Finger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/claw/Finger.java
@@ -4,28 +4,50 @@
 
 class Finger {
 
-    private final double fingerOpenPosition;
-    private final double fingerClosePosition;
-    private final Servo fingerServo;
+    private final double openPosition;
+    private final double closePosition;
+    private final Servo servo;
     private boolean isOpen;
 
     protected Finger(Servo fingerServo, double fingerOpenPosition, double fingerClosePosition) {
-        this.fingerServo = fingerServo;
-        this.fingerOpenPosition = fingerOpenPosition;
-        this.fingerClosePosition = fingerClosePosition;
+        this.servo = fingerServo;
+        this.openPosition = fingerOpenPosition;
+        this.closePosition = fingerClosePosition;
+    }
+
+    protected Finger(Finger other) {
+        this.servo = other.getServo();
+        this.openPosition = other.getOpenPosition();
+        this.closePosition = other.getClosePosition();
     }
 
     private void setPosition(double position) {
-        fingerServo.setPosition(position);
+        servo.setPosition(position);
+    }
+
+    protected Servo getServo() {
+        return this.servo;
+    }
+
+    protected double getOpenPosition() {
+        return this.openPosition;
+    }
+
+    protected double getClosePosition() {
+        return this.closePosition;
+    }
+
+    protected boolean isOpen() {
+        return isOpen;
     }
 
     protected void openClaw() {
-        setPosition(fingerOpenPosition);
+        setPosition(openPosition);
         isOpen = true;
     }
 
     protected void closeClaw() {
-        setPosition(fingerClosePosition);
+        setPosition(closePosition);
         isOpen = false;
     }
 
@@ -36,8 +58,4 @@ protected void toggleClaw() {
             openClaw();
         }
     }
-
-    protected boolean isOpen() {
-        return isOpen;
-    }
-}
+}