Add new lower slide height

rh-robotics · Mar 9, 2024 · 5358dfe · 5358dfe
1 parent 86f2b11
commit 5358dfe
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HWC.java
@@ -41,7 +41,7 @@ public enum Location {
     }
 
     // ------ Declare Slide Positions ------ //
-    public static int[] slidePositions = { 0, -482, -2110, -3460};
+    public static int[] slidePositions = { 0, -200, -482, -2110, -3460};
 
     // ------ Declare Servo Positions ------ //
     public static double passoverDeliveryPos = 0.2;

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
@@ -199,7 +199,7 @@ public void loop() {
                     break;
                 case SLIDES_UP:
                     // Set Slide Height
-                    slideHeight = 3;
+                    slideHeight = 4;
 
                     // Set Next State
                     endgameState = EndgameState.CLIMB;
@@ -219,8 +219,8 @@ public void loop() {
             slideHeight++;
 
             // If value is above 2, don't increase
-            if (slideHeight > 3) {
-                slideHeight = 3;
+            if (slideHeight > HWC.slidePositions.length - 1) {
+                slideHeight = HWC.slidePositions.length - 1;
             }
         }
 
@@ -321,6 +321,9 @@ public void loop() {
                 robot.pulleyLComponent.setTarget(HWC.slidePositions[3]);
                 robot.pulleyRComponent.setTarget(HWC.slidePositions[3]);
                 break;
+            case 4:
+                robot.pulleyLComponent.setTarget(HWC.slidePositions[4]);
+                robot.pulleyRComponent.setTarget(HWC.slidePositions[4]);
         }
 
         // ------ Telemetry Updates ------ //