Merge pull request #92 from rh-robotics/teo-intake-teleop

New TeleOp intake things
rh-robotics · Feb 19, 2024 · 130e4c1 · 130e4c1
2 parents 1d06245 + 89f1129
commit 130e4c1
Showing 1 changed file with 7 additions and 10 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/SingleDriverTeleOp.java
@@ -161,15 +161,15 @@ public void loop() {
 
         // ------ (GAMEPAD 1) Intake Toggle Controls ------ //
         if (robot.currentGamepad1.right_bumper && !robot.previousGamepad1.right_bumper) {
-            intakeState = IntakeState.INTAKE;
+            if (intakeState == IntakeState.INTAKE || intakeState == IntakeState.OUTTAKE) { intakeState = IntakeState.OFF; }
+            else if (intakeState == IntakeState.OFF) { intakeState = IntakeState.INTAKE; }
         }
+
         if (robot.currentGamepad1.left_bumper && !robot.previousGamepad1.left_bumper) {
-            intakeState = IntakeState.OUTTAKE;
-        }
-        if ((robot.currentGamepad1.left_bumper && !robot.previousGamepad1.left_bumper) && (robot.currentGamepad1.right_bumper && !robot.previousGamepad1.right_bumper)) {
-            intakeState = IntakeState.OFF;
+            if (intakeState == IntakeState.INTAKE || intakeState == IntakeState.OUTTAKE) {
+                intakeState = IntakeState.OFF;
+            } else if (intakeState == IntakeState.OFF) { intakeState = IntakeState.OUTTAKE; }
         }
-
         // ------ (GAMEPAD 1) MANUAL Wrist Controls ------ //
         if (robot.currentGamepad1.dpad_up && !robot.previousGamepad1.dpad_up) {
             wristPosition += 0.05;
@@ -196,9 +196,6 @@ public void loop() {
             passoverPosition -= 0.05;
         }
 
-        // ------ (GAMEPAD 2) MANUAL Intake Controls ------ //
-        robot.intakeMotor.setPower(robot.currentGamepad2.right_stick_x);
-
         // ------ Run Motors ------ //
         robot.leftFront.setPower(leftFPower);
         robot.leftRear.setPower(leftBPower);
@@ -216,7 +213,7 @@ public void loop() {
                 robot.intakeMotor.setPower(-1);
                 break;
             case OFF:
-                robot.intakeMotor.setPower(0);
+                robot.intakeMotor.setPower(robot.currentGamepad2.right_stick_x);
                 break;
             case OUTTAKE:
                 robot.intakeMotor.setPower(1);