Working REV Smart CR Servo Passthrough

FRCTeam4069 · Nov 24, 2020 · 550a11e · 550a11e
1 parent eccfb1e
commit 550a11e
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Showing 4 changed files with 32 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Passthrough.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Passthrough.java
@@ -15,13 +15,13 @@ public Passthrough(HardwareMap hardwareMap, Telemetry telemetry) {
 
     public void update(boolean in, boolean out) {
         if(in && !out) {
-            intakeMotor.setPower(1);
+            passthroughMotor.setPower(1);
         }
         else if(out && !in) {
-            intakeMotor.setPower(-1);
+            passthroughMotor.setPower(-1);
         }
         else {
-            intakeMotor.setPower(0);
+            passthroughMotor.setPower(0);
         }
     }
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Robot.java
@@ -11,17 +11,21 @@ public class Robot {
     public WobbleGoalClamp clamp;
     public Intake intake;
     public Shooter shooter;
+    public Passthrough passthrough;
 
     public Robot(HardwareMap hardwareMap, Telemetry telemetry) {
         drivetrain = new Drivetrain(hardwareMap, telemetry);
         detector = new StarterStackDetector(hardwareMap, telemetry);
         clamp = new WobbleGoalClamp(hardwareMap, telemetry);
         intake = new Intake(hardwareMap, telemetry);
         shooter = new Shooter(hardwareMap, telemetry);
+        passthrough = new Passthrough(hardwareMap, telemetry);
     }
     public void disableMotors() {
         drivetrain.update(0, 0, 0);
         shooter.update(0);
+        passthrough.update(false, false);
+        intake.update(false, false);
     }
     public void deactivate() {
         drivetrain.disable();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/RobotHardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/RobotHardware.java
@@ -44,6 +44,9 @@ public RobotHardware(HardwareMap hardwareMap) {
         //Intake
         intakeMotor = hardwareMap.get(DcMotor.class, "intakeMotor");
 
+        //Passthrough
+        passthroughMotor = hardwareMap.get(CRServo.class, "passthroughMotor");
+
         //WobbleGoalClamp
         //master = hardwareMap.get(CRServo.class, "master");
         //slave = hardwareMap.get(CRServo.class, "slave");

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/testOpModes/PassthroughMotorTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/testOpModes/PassthroughMotorTest.java
@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.testOpModes;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.subsystems.Robot;
+
+@TeleOp
+public class PassthroughMotorTest extends OpMode {
+
+    Robot robot;
+
+    @Override
+    public void init() {
+        robot = new Robot(hardwareMap, telemetry);
+    }
+
+    @Override
+    public void loop() {
+        robot.passthrough.update(gamepad1.right_bumper, gamepad1.left_bumper);
+    }
+}