Merge pull request #115 from rh-robotics/teo-teleop

TeleOp Changes
rh-robotics · Mar 9, 2024 · 9953e34 · 9953e34
2 parents 191ca81 + 5358dfe
commit 9953e34
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Showing 2 changed files with 11 additions and 7 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 ------ //
@@ -375,15 +378,16 @@ public void loop() {
     private void deliveryPosition() {
         wristPosition = HWC.wristDeliveryPos;
         passoverPosition = HWC.passoverDeliveryPos;
-        slideHeight = 1;
+
+        if(slideHeight == 0) { slideHeight = 1; }
     }
 
     private void intakePosition() {
         wristPosition = HWC.wristIntakePos;
         passoverPosition = HWC.passoverIntakePos;
 
-        robot.toggleClaw('L');
-        robot.toggleClaw('R');
+        robot.clawL.setPosition(1);
+        robot.clawR.setPosition(0);
 
         slideHeight = 0;
     }