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Full TeleOp with Alignment + Other Changes #117

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merged 12 commits into from
Mar 16, 2024
Merged

Full TeleOp with Alignment + Other Changes #117

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455845f
untested backboard alignment
blazeboy75 Mar 3, 2024
5a2cf3c
distance test
blazeboy75 Mar 8, 2024
4e76973
distance test2
blazeboy75 Mar 8, 2024
9472e2f
slightly cleaned distance
blazeboy75 Mar 9, 2024
a3a2fa4
Remove normal teleop things from DistanceTest opmode
DragonDev07 Mar 9, 2024
4e61a32
Finished distance alignment
blazeboy75 Mar 15, 2024
e5d958c
Distance Test Formatting before removal
DragonDev07 Mar 15, 2024
5075810
TeleOp Changes
DragonDev07 Mar 15, 2024
9c08cc0
Some more changes
DragonDev07 Mar 15, 2024
a3d6548
Merge master
DragonDev07 Mar 15, 2024
b4a05d5
Near-Final Changes
DragonDev07 Mar 16, 2024
424f9dc
Final Teleop Changes
DragonDev07 Mar 16, 2024
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10 changes: 6 additions & 4 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 @@ -4,19 +4,18 @@

import androidx.annotation.NonNull;

import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.ColorRangeSensor;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DistanceSensor;
import com.qualcomm.robotcore.hardware.Gamepad;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.teamcode.auton.enums.AllianceColor;
import org.firstinspires.ftc.teamcode.subsystems.pid.RobotComponents;
Expand All @@ -41,7 +40,7 @@ public enum Location {
}

// ------ Declare Slide Positions ------ //
public static int[] slidePositions = { 0, -200, -482, -2110, -3460};
public static int[] slidePositions = { 0, -200, -482, -2110, -3460, -4250};

// ------ Declare Servo Positions ------ //
public static double passoverDeliveryPos = 0.2;
Expand All @@ -61,6 +60,7 @@ public enum Location {

// ------ Declare Sensors ------ //
public ColorRangeSensor colorLeft, colorRight;
public DistanceSensor distLeft, distRight;

// ------ Declare Gamepads ------ //
public Gamepad currentGamepad1 = new Gamepad();
Expand Down Expand Up @@ -126,6 +126,8 @@ public HWC(@NonNull HardwareMap hardwareMap, Telemetry telemetry, boolean roadru
webcam = hardwareMap.get(WebcamName.class, "webcam");
colorLeft = hardwareMap.get(ColorRangeSensor.class, "colorL");
colorRight = hardwareMap.get(ColorRangeSensor.class, "colorR");
distLeft = hardwareMap.get(DistanceSensor.class, "distL");
distRight = hardwareMap.get(DistanceSensor.class, "distR");

// ------ Set Motor Directions ------ //
if (!roadrunner) {
Expand Down
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