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Merged
kevinfrei merged 1 commit into from
May 7, 2025
Merged

Presto & Viggo's work on Ptechnodactyl #136

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8 changes: 2 additions & 6 deletions Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Hardware.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

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4 changes: 4 additions & 0 deletions Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Robot.java
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Expand Up @@ -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;
Expand All @@ -25,5 +26,8 @@ public Robot(Hardware hw) {
hw.imu
);
}
if (Setup.Connected.CLAWSUBSYSTEM) {
this.clawSubsystem = new ClawSubsystem(hw);
}
}
}
2 changes: 1 addition & 1 deletion Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/Setup.java
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Expand Up @@ -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
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3 changes: 2 additions & 1 deletion ...tyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/opmodes/tele/JustDrivingTeleOp.java
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Expand Up @@ -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;
Expand All @@ -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;
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10 changes: 7 additions & 3 deletions ...hnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/subsystems/ClawSubsystem.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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) {
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