Added the claw to drop two pixels in the backstage in auto

GearUp12499-org · Nov 10, 2023 · 75fb48f · 75fb48f
1 parent 603abad
commit 75fb48f
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SimpleAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/SimpleAuto.java
@@ -40,7 +40,7 @@ public void runOpMode() {
 
         while (distance < 30) {
             distance = OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0);
-            if (strafeDistance <= 3) {
+            if (strafeDistance <= 5) {
                 strafeDistance = OdoToInches(intake.getCurrentPosition());
                 driveMotors.frontLeft.setPower(0.4);
                 driveMotors.backLeft.setPower(-0.4);
@@ -51,11 +51,16 @@ public void runOpMode() {
             driveMotors.backLeft.setPower(0.4);
             driveMotors.frontRight.setPower(0.4);
             driveMotors.backRight.setPower(0.4);
-            // Claw scoring code
-
             telemetry.addData("Distance Driven Forward: ", distance);
             telemetry.update();
             }
         }
+        // Sets all motors to have 0 power
+        driveMotors.setAll(0);
+        // Claw scoring codes
+        // Uses the Rotate_Hover variable to hover right above ground to drop pixels
+        claw.rotate.setPosition(Claw.ROTATE_HOVER);
+        claw.grip.setPosition(Claw.GRIP_OPEN);
+        claw.rotate.setPosition(Claw.ROTATE_FLIP);
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/abstractions/Claw.kt
@@ -17,9 +17,12 @@ class Claw(
 ) {
     companion object {
         // Try to avoid changing these here. Instead, change them in Variables.kt.
+        // Hovers just above the ground
         const val ROTATE_HOVER = ClawVar.HoverRotation
         const val ROTATE_CLOSING = ClawVar.ClosingRotation
+        // Flips all the way back
         const val ROTATE_FLIP = ClawVar.FlippedRotation
+        // Stow is upright
         const val ROTATE_STOW = ClawVar.StowedRotation
         const val GRIP_OPEN = ClawVar.ClawOpened
         const val GRIP_CLOSED = ClawVar.ClawClosed