Gil - changes

GreenBlitz · Jun 15, 2024 · e959e80 · e959e80
1 parent 6318d2d
commit e959e80
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Showing 2 changed files with 5 additions and 11 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/launcher/Launcher.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/launcher/Launcher.java
@@ -1,20 +1,16 @@
 package org.firstinspires.ftc.teamcode.subsystems.launcher;
 
 import com.arcrobotics.ftclib.command.SubsystemBase;
-import com.arcrobotics.ftclib.hardware.SimpleServo;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 
 public class Launcher extends SubsystemBase {
-    private SimpleServo servo;
+    private final Servo servo;
 
     public Launcher(HardwareMap hardwareMap) {
-        this.servo = new SimpleServo(hardwareMap,
-                LauncherConstants.SERVO_ID,
-                LauncherConstants.MIN_ANGLE,
-                LauncherConstants.MAX_ANGLE
-        );
+        this.servo = hardwareMap.servo.get(LauncherConstants.SERVO_ID);
         servo.setPosition(LauncherConstants.CLOSED_POSITION);
     }
 
@@ -26,7 +22,7 @@ protected void launchPlane() {
         servo.setPosition(LauncherConstants.RELEASED_POSITION);
     }
 
-    public boolean isFullyReleased() {
+    public boolean isPlaneLaunched() {
         return getPosition() == LauncherConstants.RELEASED_POSITION;
     }
 
@@ -36,7 +32,7 @@ public boolean isClosed() {
 
     public void telemetry(Telemetry telemetry) {
         telemetry.addData("launcher servo currentPos: ", getPosition());
-        telemetry.addData("is launcher fully released: ", isFullyReleased());
+        telemetry.addData("is launcher fully released: ", isPlaneLaunched());
         telemetry.addData("is launcher closed: ", isClosed());
     }
 }
diff --git a/...e/src/main/java/org/firstinspires/ftc/teamcode/subsystems/launcher/LauncherConstants.java b/...e/src/main/java/org/firstinspires/ftc/teamcode/subsystems/launcher/LauncherConstants.java
@@ -4,6 +4,4 @@ class LauncherConstants {
     protected static final String SERVO_ID = "launcher_servo";
     protected static final double RELEASED_POSITION = 0;
     protected static final double CLOSED_POSITION = 0.5;
-    protected static final double MIN_ANGLE = 0;
-    protected static final double MAX_ANGLE = 360;
 }