test

STMARobotics · Dec 21, 2024 · 034a087 · 034a087
1 parent b69bc18
commit 034a087
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Showing 3 changed files with 21 additions and 21 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArmSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArmSubsystem.java
@@ -21,14 +21,13 @@ public class ArmSubsystem {
     public static final String ARM_MOTOR = "arm_motor";
 
     public  static final double ARM_TICKS_PER_DEGREE = 5;
-    public  static final double Arm_High_Bucket = 45* ARM_TICKS_PER_DEGREE;
-    public static  final double Arm_Start_Position = -25
-            * ARM_TICKS_PER_DEGREE;
-    public  static final double Arm_Collect_Position = 5 * ARM_TICKS_PER_DEGREE;
+    public  static final double Arm_High_Bucket = 65 * ARM_TICKS_PER_DEGREE;
+    public static  final double Arm_Start_Position = 5 * ARM_TICKS_PER_DEGREE;
+    public  static final double Arm_Collect_Position = -25 * ARM_TICKS_PER_DEGREE;
     public  static final double ARM_SCORE_SPECIMEN = 90 * ARM_TICKS_PER_DEGREE;
-    public  static final double Arm_Low_Bucket = 25 * ARM_TICKS_PER_DEGREE;
+    public  static final double Arm_Low_Bucket = 45 * ARM_TICKS_PER_DEGREE;
     public  static final double Arm_Clear_Barrier = 12.5 * ARM_TICKS_PER_DEGREE;
-    public  static final double Arm_Low_Bar = 35 * ARM_TICKS_PER_DEGREE;
+    public  static final double Arm_Low_Bar = 10 * ARM_TICKS_PER_DEGREE;
     public  static final double ARM_WINCH_ROBOT = 10 * ARM_TICKS_PER_DEGREE;
     static double FUDGE_FACTOR_DEGREES = 15;
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BetaDriveThing.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BetaDriveThing.java
@@ -45,7 +45,7 @@ public void runOpMode() throws InterruptedException {
             double rx = gamepad1.right_stick_x;  // Turning
 
 
-            double turningSpeed = 0.3;
+            double turningSpeed = 0.6;
             if (Math.abs(rx) > 0.1) {
                 rx = turningSpeed * Math.signum(rx);
             } else {
@@ -65,34 +65,34 @@ public void runOpMode() throws InterruptedException {
                 slideSubsystem.setPower(0);
             }
 
-            if (gamepad1.dpad_left) {
+            if (gamepad2.dpad_left) {
                 claw.open();
-            } else if (gamepad1.dpad_right) {
+            } else if (gamepad2.dpad_right) {
                 claw.close();
             }
 
 
-            if (gamepad2.a) {
+            if (gamepad2.x) {
                 arm.setArmPosition(ArmSubsystem.Arm_Start_Position);
-            } else if (gamepad2.y) {
+            } else if (gamepad2.a) {
                 arm.setArmPosition(ArmSubsystem.Arm_Collect_Position);
-            } else if (gamepad2.x) {
-                arm.setArmPosition(ArmSubsystem.Arm_Low_Bucket);
             } else if (gamepad2.b) {
+                arm.setArmPosition(ArmSubsystem.Arm_Low_Bucket);
+            } else if (gamepad2.y) {
                 arm.setArmPosition(ArmSubsystem.Arm_High_Bucket);
-            } else if (gamepad2.dpad_up) {
+            } else if (gamepad2.left_stick_button) {
                 arm.setArmPosition(ArmSubsystem.Arm_Low_Bar);
-            } else if (gamepad2.dpad_down) {
+            } else if (gamepad2.right_stick_button) {
                 arm.setArmPosition(ArmSubsystem.Arm_Clear_Barrier);
             } else if (gamepad2.start) {
                 arm.resetArmEncoder();
             }
 
-            if (gamepad2.right_stick_button) {
+            if (gamepad2.dpad_up) {
                 wrist.moveToPosition(.75);
-            } else if (gamepad2.left_stick_button) {
+            } else if (gamepad2.dpad_down) {
                 wrist.moveToPosition(0);
-            }
+
 
             double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
             double frontRightPower = (y + x + rx) / denominator;
@@ -110,7 +110,7 @@ public void runOpMode() throws InterruptedException {
             telemetry.addData("gamepad1 left stick x ", x);
             telemetry.addData("motor power", frontLeftPower);
             telemetry.addData("turn", rx);
-
         }
     }
-}
+}
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriveSubsystem.java
@@ -64,7 +64,8 @@ public class DriveSubsystem {
     // Define Motor and Servo objects  (Make them private so they can't be accessed externally)
     private DcMotor frontLeftMotor;
     private DcMotor frontRightMotor;
-    private DcMotor backLeftMotor;  private DcMotor backRightMotor;
+    private DcMotor backLeftMotor;
+    private DcMotor backRightMotor;
 
     private HardwareMap hardwareMap;
     private Telemetry telemetry;