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GearUp12499-org · Nov 22, 2024 · cf22849 · cf22849
1 parent 72dd58e
commit cf22849
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -91,6 +91,12 @@ public static class Locks {
     @HardwareName("wrist")
     public Servo wrist;
 
+    @HardwareName("frontClaw")
+    public Servo frontClaw;
+
+    @HardwareName("clawFlip")
+    public Servo clawFlip;
+
 
     @Override
     public Encoder getLeftEncoder() { return encoderLeft; }

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
@@ -109,6 +109,7 @@ else if(gamepad2.dpad_down){
             }*/
             lift(hardware);
             arm(hardware);
+            HorizontalServos(hardware);
             int verticalPosition = hardware.encoderVerticalSlide.getCurrentPosition();
             telemetry.addData("Vertical position", verticalPosition);
             telemetry.addData("fl power", frontLeftPower);
@@ -246,4 +247,21 @@ private void arm(Hardware hardware) {
         arm.setPower(emerg ? 1.0 : 0.3);
         telemetry.addData("arm deg", degrees);
     }
+    public void HorizontalServos(Hardware hardware) {
+        double moveFlip = 0;
+        hardware.clawFlip.setPosition(moveFlip);
+        double closeFrontClaw = 0.55;
+        double openFrontClaw = 0.02;
+        if (gamepad1.right_bumper) {
+            hardware.frontClaw.setPosition(openFrontClaw);
+        } else if (gamepad1.left_bumper) {
+            hardware.frontClaw.setPosition(closeFrontClaw);
+        } if (gamepad1.y){
+            moveFlip += 0.01;
+        }
+        else if (gamepad1.b) {
+            moveFlip += -0.01;
+        }
+        hardware.clawFlip.setPosition(moveFlip);
+    }
 }