Got rid of some unnecessary variables, need to fix lift bug and creat…

…e autonomous OpModes (#49)
Murray-Bridge-Bunyips · Nov 3, 2023 · d6cb8cb · d6cb8cb
1 parent 0384ca0
commit d6cb8cb
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Showing 3 changed files with 24 additions and 13 deletions.
diff --git a/...Code/src/main/java/org/firstinspires/ftc/teamcode/wheatley/components/WheatleyConfig.java b/...Code/src/main/java/org/firstinspires/ftc/teamcode/wheatley/components/WheatleyConfig.java
@@ -7,9 +7,6 @@
 
 /**
  * Wheatley robot configuration and hardware declarations
- * <p>
- * NOTE: As of initial writing, we have nearly no idea what hardware specifications we will be using
- * This is almost all guessing and taking hints from new SDK features, mostly copied from DinoMighty
  *
  * @author Lachlan Paul, 2023
  */
@@ -27,14 +24,30 @@ public class WheatleyConfig extends RobotConfig {
     //    left_rear = hardwareMap.get(DcMotor.class, "left_rear");
 
     // Declares all necessary motors
+
+    // Expansion 1: fl
     public DcMotor frontLeft;
+
+    // Expansion 0: bl
     public DcMotor backLeft;
+
+    // Expansion 2: fr
     public DcMotor frontRight;
+
+    // Expansion 3: br
     public DcMotor backRight;
+
+    // Control 0: ra
     public DcMotor rotator;
 
+    // Control Servo 0: ls
+
     public DcMotor leftServo;
+
+    // Control Servo 1: rs
     public DcMotor rightServo;
+
+    // USB device "webcam"
     public WebcamName webcam;
 
     @Override

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/wheatley/components/WheatleyLift.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/wheatley/components/WheatleyLift.java
@@ -17,10 +17,8 @@
 
 public class WheatleyLift extends BunyipsComponent {
 
-    private final DcMotor clawArm;
-    private double armPower;
-    private final double clawPower;
-
+    private final DcMotor arm;
+    private double armPower = 0.0;
     private final Servo leftServo;
     private final Servo rightServo;
 
@@ -30,11 +28,9 @@ public class WheatleyLift extends BunyipsComponent {
     private Boolean leftClawState = false;
     private Boolean rightClawState = false;
 
-    public WheatleyLift(@NonNull BunyipsOpMode opMode, Double armPower, DcMotor clawArm, double clawPower, Servo leftServo, Servo rightServo) {
+    public WheatleyLift(@NonNull BunyipsOpMode opMode, DcMotor arm, Servo leftServo, Servo rightServo) {
         super(opMode);
-        this.clawArm = clawArm;
-        this.clawPower = clawPower;
-        this.armPower = armPower;
+        this.arm = arm;
         this.leftServo = leftServo;
         this.rightServo = rightServo;
 
@@ -72,11 +68,11 @@ public void rightClaw() {
 
     public void update() {
 
-        clawArm.setPower(clawPower);
+        arm.setPower(armPower);
 
         // Can update telemetry functions too
         // The modified telemetry function takes in a value to show on the Driver Station, and
         // whether or not to keep it on the screen upon the next activeLoop.
-        getOpMode().addTelemetry("Lift Arm Position: " + clawArm.getCurrentPosition(), false);
+        getOpMode().addTelemetry("Lift Arm Position: " + arm.getCurrentPosition(), false);
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/wheatley/teleop/WheatleyTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/wheatley/teleop/WheatleyTeleOp.java
@@ -43,8 +43,10 @@ protected void onInit() {
     protected void activeLoop() {
 
         drive.setSpeedUsingController(gamepad1.left_stick_x, gamepad1.left_stick_y, gamepad1.right_stick_x);
+        drive.update();
 
         lift.armLift(gamepad2.left_stick_y);
+        lift.update();
 
         if (gamepad2.x) {
             lift.leftClaw();