1/11/24 - LM3

5-0, 2nd, & Inspire 🔥, Forgot to commit and push lol

Author: AshOnDiscord

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/outtake/OuttakeArm.kt

@@ -38,13 +38,13 @@ class OuttakeArm(val robot: Robot) : Subsystem() {
 
     companion object {
         @JvmField
-        var basePosition = 0.64
+        var basePosition = 0.62
 
         @JvmField
         var basketPosition = 0.5
 
         @JvmField
-        var specimenPosition = basketPosition
+        var specimenPosition = 0.519
 
         @JvmField
         var extendedPosition = 0.75

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/outtake/Slides.kt

@@ -76,6 +76,9 @@ class Slides(val robot: Robot) : Subsystem() {
         @JvmField
         var highRung: Double = 1200.0
 
+        @JvmField
+        var wall: Double = 200.0
+
         @JvmField
         var lowBasket: Double = 700.0
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SampleAuton.kt

@@ -183,7 +183,7 @@ class SampleAuton : OpMode() {
         var basketX = -49.0
 
         @JvmField
-        var basketY = 52.0
+        var basketY = 50.0
 
         @JvmField
         var basketDuration: Long = 1000

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/auton/SpecimenAuton.kt

@@ -85,6 +85,7 @@ class SpecimenAuton : OpMode() {
                 SequentialCommandGroup(
                     robot.outtake.close(),
                     WaitCommand(outtakePickupClawDelay),
+                    SlidesCommand(robot.outtake.slides, Slides.wall),
                     ParallelCommandGroup(
                         InstantCommand({
                             robot.outtake.arm.state = OuttakeArmPosition.BASKET

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/teleop/BasicTeleop.kt

@@ -218,21 +218,33 @@ class BasicTeleop : OpMode() {
                 })
             )
 
-            val imuReset = EdgeDetector(
-                gamepad2::b,
-                this@BasicTeleop,
-                InstantCommand({
-                    robot.imu.resetYaw()
-                    gamepad2.rumble(250)
-                })
-            )
+//            val imuReset = EdgeDetector(
+//                gamepad2::b,
+//                this@BasicTeleop,
+//                InstantCommand({
+//                    robot.imu.resetYaw()
+//                    gamepad2.rumble(250)
+//                })
+//            )
+//
+//            val liftReset = EdgeDetector(
+//                gamepad2::dpad_down,
+//                {
+//                    gamepad2.rumble(250)
+//                },
+//                {
+//                    robot.outtake.slides.isManual = false
+//                    robot.outtake.slides.leftLift.reset()
+//                    robot.outtake.slides.rightLift.reset()
+//                    gamepad2.rumble(250)
+//                }
+//            )
 
-            val liftReset = EdgeDetector(
-                gamepad2::dpad_down,
-                {
-                    gamepad2.rumble(250)
-                },
-                {
+            val reset = EdgeDetector(
+                gamepad1::cross, {
+                    robot.imu.resetYaw()
+                    gamepad1.rumble(250)
+                }, {
                     robot.outtake.slides.isManual = false
                     robot.outtake.slides.leftLift.reset()
                     robot.outtake.slides.rightLift.reset()
@@ -247,7 +259,8 @@ class BasicTeleop : OpMode() {
     }
 
     override fun initialize() {
-        super.initialize()
+//        super.initialize()
+//        schedule(InstantCommand({ super.initialize() }))
         triggers // lazy loads all the triggers w/o having to make each lazy loaded
     }
 
@@ -269,7 +282,7 @@ class BasicTeleop : OpMode() {
 
         // Slides
         val slidePower = gamepad1.right_trigger.toDouble() - gamepad1.left_trigger.toDouble()
-        if (gamepad2.dpad_down) {
+        if (gamepad1.cross) {
             robot.outtake.slides.isManual = true
             robot.outtake.slides.manualPower = -1.0
         } else if (slidePower.absoluteValue > slideThreshold) {
@@ -328,7 +341,7 @@ class BasicTeleop : OpMode() {
         var specimenDelay: Long = 500
 
         @JvmField
-        var specScoreDelay: Long = 500
+        var specScoreDelay: Long = 625
 
         @JvmField
         var sweepDuration: Long = 1500