Presto & Viggo's work on Ptechnodactyl

Author: kevinfrei

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Hardware.java

@@ -73,12 +73,8 @@ public Hardware(HardwareMap hwmap) {
             //            }
         }
         if (Setup.Connected.CLAWSUBSYSTEM) {
-            if (Setup.Connected.CLAWSERVO) {
-                this.clawServo = new Servo(Setup.HardwareNames.CLAWSERVO);
-            }
-            if (Setup.Connected.ARM) {
-                this.arm = new EncodedMotor<>(Setup.HardwareNames.ARM);
-            }
+            this.clawServo = new Servo(Setup.HardwareNames.CLAWSERVO);
+            this.arm = new EncodedMotor<>(Setup.HardwareNames.ARM);
         }
     }
 

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Robot.java

@@ -2,6 +2,7 @@
 
 import com.technototes.library.logger.Loggable;
 import com.technototes.library.util.Alliance;
+import org.firstinspires.ftc.ptechnodactyl.Hardware;
 import org.firstinspires.ftc.ptechnodactyl.helpers.StartingPosition;
 import org.firstinspires.ftc.ptechnodactyl.subsystems.ClawSubsystem;
 import org.firstinspires.ftc.ptechnodactyl.subsystems.DrivebaseSubsystem;
@@ -25,5 +26,8 @@ public Robot(Hardware hw) {
                 hw.imu
             );
         }
+        if (Setup.Connected.CLAWSUBSYSTEM) {
+            this.clawSubsystem = new ClawSubsystem(hw);
+        }
     }
 }

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Setup.java

@@ -18,7 +18,7 @@ public static class Connected {
         public static boolean COLOR_SENSOR = false;
         public static boolean FLYWHEEL = false;
         public static boolean WEBCAM = false;
-        public static boolean EXTERNAL_IMU = true;
+        public static boolean EXTERNAL_IMU = false;
     }
 
     @Config

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/opmodes/tele/JustDrivingTeleOp.java

@@ -4,6 +4,7 @@
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.logger.Loggable;
 import com.technototes.library.structure.CommandOpMode;
 import com.technototes.library.util.Alliance;
 import org.firstinspires.ftc.ptechnodactyl.Hardware;
@@ -16,7 +17,7 @@
 
 @TeleOp(name = "Driving w/Turbo!")
 @SuppressWarnings("unused")
-public class JustDrivingTeleOp extends CommandOpMode {
+public class JustDrivingTeleOp extends CommandOpMode implements Loggable {
 
     public Robot robot;
     public DriverController controlsDriver;

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/subsystems/ClawSubsystem.java

@@ -4,16 +4,14 @@
 import com.acmerobotics.roadrunner.control.PIDCoefficients;
 import com.acmerobotics.roadrunner.control.PIDFController;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.util.Range;
 import com.technototes.library.hardware.motor.EncodedMotor;
 import com.technototes.library.hardware.servo.Servo;
 import com.technototes.library.logger.Log;
-import com.technototes.library.logger.Loggable;
 import com.technototes.library.subsystem.Subsystem;
 import org.firstinspires.ftc.ptechnodactyl.Hardware;
 
 @Config
-public class ClawSubsystem implements Subsystem, Loggable {
+public class ClawSubsystem implements Subsystem {
 
     private Servo clawServo;
     private EncodedMotor<DcMotorEx> arm;
@@ -105,6 +103,12 @@ The downward torque due to gravity is cos(T) * Gravity (9.8m/s^2)
         setArmPos(INITIAL_POSITION);
     }
 
+    public ClawSubsystem() {
+        isHardware = false;
+        clawServo = null;
+        arm = null;
+    }
+
     public void increment(double value) {
         int newArmPos = (int) (armTargetPos + value * INCREMENT_DECREMENT);
         //        if (newArmPos > ARM_MAX) {