CAN GET 4TH SAMPLE NOW YAY

GearUp12499-org · Jan 15, 2025 · 20ab4f8 · 20ab4f8
1 parent 70d6130
commit 20ab4f8
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Showing 2 changed files with 31 additions and 1 deletion.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FixStuffTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FixStuffTeleOp.java
@@ -61,7 +61,7 @@ private void hardwareInit() {
         hardware.arm.setPower(0.3);
         hardware.wrist.setPosition(0.28);
         hardware.claw.setPosition(Hardware.CLAW_CLOSE);
-
+        hardware.clawTwist.setPosition(Hardware.CLAW_TWIST_INIT);
         // we don't have the proxy object to handle this for us
         // so manually implement the inversion
         hardware.horizontalSlide.setPosition(Hardware.RIGHT_SLIDE_IN);
@@ -88,6 +88,9 @@ public void runOpMode() {
             if (gamepad1.b){
                 SlideIn();
             }
+            if (gamepad1.x){
+                FourthSample();
+            }
 
             telemetry.addData("slidePos", hardware.horizontalLeft.getPosition());
             telemetry.addData("slidePos2", hardware.horizontalSlide.getPosition());
@@ -114,4 +117,27 @@ public void SlideIn() {
         hardware.horizontalLeft.setPosition(1-Hardware.RIGHT_SLIDE_IN);
         hardware.clawFlip.setPosition(Hardware.FLIP_UP);
     }
+    public void FourthSample(){
+        double PartialFlip = 0.167;
+        hardware.clawFlip.setPosition(PartialFlip);
+        sleep(500);
+        hardware.clawTwist.setPosition(0.26);
+        sleep(500);
+        hardware.horizontalSlide.setPosition(Hardware.RIGHT_SLIDE_OUT);
+        hardware.horizontalLeft.setPosition(1-Hardware.RIGHT_SLIDE_OUT);
+        sleep(500);
+        hardware.clawFlip.setPosition(Hardware.FLIP_DOWN);
+        sleep(500);
+        hardware.clawFront.setPosition(Hardware.FRONT_CLOSE);
+        sleep(500);
+        hardware.clawTwist.setPosition(Hardware.CLAW_TWIST_INIT);
+        sleep(500);
+        hardware.horizontalSlide.setPosition(Hardware.SLIDE_OVERSHOOT);
+        hardware.horizontalLeft.setPosition(1 - Hardware.SLIDE_OVERSHOOT);
+        sleep(500);
+        hardware.horizontalSlide.setPosition(Hardware.RIGHT_SLIDE_IN);
+        hardware.horizontalLeft.setPosition(1-Hardware.RIGHT_SLIDE_IN);
+        sleep(500);
+        hardware.clawFlip.setPosition(Hardware.FLIP_UP);
+    }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -141,6 +141,9 @@ public static class Locks {
     @HardwareName("clawFlip")
     public Servo clawFlip;
 
+    @HardwareName("clawTwist")
+    public Servo clawTwist;
+
     @HardwareName("horizontalSlide")
     public Servo horizontalSlide;
 
@@ -156,6 +159,7 @@ public static class Locks {
     @HardwareName("clawColor")
     public ColorSensor clawColor;
 
+
     @Override
     public Encoder getLeftEncoder() {
         return encoderLeft;