Pre-comp tweaks

GearUp12499-org · Feb 10, 2024 · 7e03fa5 · 7e03fa5
1 parent 9bbe69c
commit 7e03fa5
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Showing 4 changed files with 37 additions and 13 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Var.kt
@@ -56,6 +56,20 @@ object Var {
         const val back = 1.0
     }
 
+    object DropDownServo {
+        @JvmField
+        val positions = doubleArrayOf(
+            0.60,
+//            0.4944,
+//            0.4538,
+//            0.3999,
+//            0.3760,
+            0.2892
+        )
+        @JvmField
+        val up = positions[0]
+    }
+
     object TeleOp {
         /**
          * Target distance for approaching objects with the 'x' button on Gamepad 1.

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/HWTest.java
@@ -17,6 +17,8 @@ public class HWTest extends LinearOpMode {
     boolean lastA = false;
     boolean lastB = false;
 
+    boolean verbalize = false;
+
     RobotConfiguration robot;
 
     /**
@@ -31,6 +33,9 @@ boolean confirm(String message) {
         for (String line : message.split("\n")) {
             telemetry.addLine(line);
         }
+        if (verbalize) {
+            telemetry.speak(message);
+        }
         telemetry.addLine();
         telemetry.addLine("[A]: YES or [B]: NO");
         telemetry.update();
@@ -55,6 +60,9 @@ void alert(String message) {
         for (String line : message.split("\n")) {
             telemetry.addLine(line);
         }
+        if (verbalize) {
+            telemetry.speak(message);
+        }
         telemetry.addLine();
         telemetry.addLine("[A]: Confirm");
         telemetry.update();
@@ -68,11 +76,15 @@ void alert(String message) {
     }
 
     void testMotor(String label, DcMotor theMotor) {
+        testMotor(label, theMotor, "moving forward");
+    }
+
+    void testMotor(String label, DcMotor theMotor, String action) {
         lastA = gamepad1.a;
         lastB = gamepad1.b;
         theMotor.setPower(0.25);
         telemetry.addLine("The " + label + " motor should");
-        telemetry.addLine("be moving forward...");
+        telemetry.addLine("be " + action + "...");
         telemetry.addLine();
         telemetry.addLine("[A]: OK [B]: STOP");
         telemetry.update();
@@ -100,6 +112,9 @@ void testMotors() {
         testMotor("Front Right", motors.frontRight);
         testMotor("Back Left", motors.backLeft);
         testMotor("Back Right", motors.backRight);
+        testMotor("Intake", robot.intake(), "turning reverse (outtaking)");
+        alert("Remove the drone from the launcher if it is present...");
+        testMotor("Drone", robot.drone(), "spinning");
     }
 
     void testEncoder(String label, DcMotor encoded) {
@@ -175,6 +190,7 @@ public void runOpMode() {
         robot = RobotConfiguration.currentConfiguration().invoke(hardwareMap);
         waitForStart();
         try {
+            verbalize = confirm("Say instructions out loud?");
             testMotors();
             testEncoders();
             testSensors();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TeleOp.java
@@ -62,14 +62,6 @@ public double OdoToInches(double ticks) {
         return (num_wheel_rotations * 2 * Math.PI * radius_inches);
     }
 
-    public static final double[] DropdownPositions = {
-            0.60, // X button
-            0.49,
-            0.45,
-            0.41,
-            0.35
-    };
-
     @Override
     public void runOpMode() {
 
@@ -87,7 +79,7 @@ public void runOpMode() {
         MotorSet<DcMotor> driveMotors = robot.driveMotors();
 
         int dropCycle = 0;
-        robot.dropDownServo().setPosition(DropdownPositions[dropCycle]);
+        robot.dropDownServo().setPosition(Var.DropDownServo.positions[dropCycle]);
 
         Servo dumperServo = robot.dumperRotate();
         Servo latch = robot.dumperLatch();
@@ -275,13 +267,14 @@ public void runOpMode() {
 
             if (gamepad2.y && !lastAdvDropper) {
                 dropCycle++;
-                if (dropCycle >= DropdownPositions.length) dropCycle = DropdownPositions.length - 1;
-                robot.dropDownServo().setPosition(DropdownPositions[dropCycle]);
+                if (dropCycle >= Var.DropDownServo.positions.length)
+                    dropCycle = Var.DropDownServo.positions.length - 1;
+                robot.dropDownServo().setPosition(Var.DropDownServo.positions[dropCycle]);
             }
             lastAdvDropper = gamepad2.y;
             if (gamepad2.x) {
                 dropCycle = 0;
-                robot.dropDownServo().setPosition(DropdownPositions[dropCycle]);
+                robot.dropDownServo().setPosition(Var.DropDownServo.up);
             }
 
             if (gamepad2.right_bumper) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAuto.java
@@ -297,6 +297,7 @@ public void runOpMode() throws InterruptedException {
         // Set up robot hardware
         robot.clearEncoders();
         robot.purpleDropper().setPosition(Var.PixelDropper.up);
+        robot.dropDownServo().setPosition(Var.DropDownServo.up);
 
         double buttonRepeatDelay = 0.4;
         double buttonRepeatRate = 0.2;