viggo & harshini

12/14/2024

i forgot what problems we fixed, but we fixed several problems today

I HAVE SAMPLE SIDE AUTO AND OBSERVATION SIDE PARKING YAYAYAYYAYAY LETS GOOOO

Author: TechnototesLaptop

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/ArmSubCmds.java

@@ -24,6 +24,10 @@ public static Command highbasketArm(ArmSubsystem AS) {
             return Command.create(AS::highBasket);
         }
 
+        public static Command highbasketArmAuto(ArmSubsystem AS) {
+            return Command.create(AS::highBasketAuto);
+        }
+
         public static Command highbasketArmWaitTillDone(ArmSubsystem AS) {
             return new MoveArmCommand(AS, AS::highBasket);
         }

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/AutoHighBasketCommand.java

@@ -15,15 +15,18 @@ public static SequentialCommandGroup HighBasket(Robot r) {
             KidShampooCmds.cmds.StopIntake(r.kidShampooSubsystem),
             KidShampooCmds.cmds.ScoopWristAutoOnly(r.kidShampooSubsystem),
             ArmSubCmds.cmds.slideZero(r.armSubsystem),
-            ArmSubCmds.cmds.highbasketArm(r.armSubsystem),
+            ArmSubCmds.cmds.highbasketArmAuto(r.armSubsystem),
             new WaitCommand(1),
             ArmSubCmds.cmds.highbasketSlide(r.armSubsystem),
-            new WaitCommand(1.2),
+            new WaitCommand(0.8),
+            KidShampooCmds.cmds.UpRetainer(r.kidShampooSubsystem),
+            new WaitCommand(0.4),
             KidShampooCmds.cmds.DumpWrist(r.kidShampooSubsystem),
-            KidShampooCmds.cmds.OpenRetainer(r.kidShampooSubsystem),
-            new WaitCommand(1.5),
-            KidShampooCmds.cmds.CloseRetainer(r.kidShampooSubsystem),
-            KidShampooCmds.cmds.ScoopWristAutoOnly(r.kidShampooSubsystem)
+            new WaitCommand(2.3),
+            KidShampooCmds.cmds.ScoopWristAutoOnly(r.kidShampooSubsystem),
+            new WaitCommand(0.2),
+            KidShampooCmds.cmds.CloseRetainer(r.kidShampooSubsystem)
+
         );
     }
 }

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/HighBasketCommand.java

@@ -22,7 +22,7 @@ public static SequentialCommandGroup HighBasket(Robot r) {
             new WaitCommand(1.2),
             KidShampooCmds.cmds.DumpWrist(r.kidShampooSubsystem),
             KidShampooCmds.cmds.OpenRetainer(r.kidShampooSubsystem),
-            new WaitCommand(0.3),
+            new WaitCommand(1.2),
             KidShampooCmds.cmds.CloseRetainer(r.kidShampooSubsystem),
             KidShampooCmds.cmds.ScoopWristAutoOnly(r.kidShampooSubsystem)
         );

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/commands/KidShampooCmds.java

@@ -11,6 +11,10 @@ public static Command OpenRetainer(KidShampooSubsystem KS) {
             return Command.create(KS::openRetainer);
         }
 
+        public static Command UpRetainer(KidShampooSubsystem KS) {
+            return Command.create(KS::upRetainer);
+        }
+
         public static Command CloseRetainer(KidShampooSubsystem KS) {
             return Command.create(KS::closeRetainer);
         }

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/ArmSubsystem.java

@@ -21,7 +21,8 @@ public class ArmSubsystem implements Subsystem, Loggable {
     public int slideResetPos;
     public static double FEEDFORWARD_COEFFICIENT = 0.00014; //11-19-24
     public static int ROTATE_MOTOR_LOW_BASKET_SCORING_POSITION = 3100;
-    public static int ROTATE_MOTOR_HIGH_BASKET_SCORING_POSITION = 3200;
+    public static int ROTATE_MOTOR_HIGH_BASKET_SCORING_POSITION = 3300;
+    public static int AUTO_ROTATE_MOTOR_HIGH_BASKET_SCORING_POSITION = 3400;
     public static int ROTATE_MOTOR_SPECIMEN_SCORING_POSITION_LOW = 300;
     public static int ROTATE_MOTOR_SPECIMEN_SCORING_POSITION_HIGH = 300;
     public static double MIN_ANGULAR_VELOCITY = 0.001;
@@ -285,6 +286,10 @@ public void highBasket() {
         setArmPos(ROTATE_MOTOR_HIGH_BASKET_SCORING_POSITION);
     }
 
+    public void highBasketAuto() {
+        setArmPos(AUTO_ROTATE_MOTOR_HIGH_BASKET_SCORING_POSITION);
+    }
+
     public void highBasketSlides() {
         setSlidePos(SLIDES_MOTOR_HIGH_BASKET_SCORING_POSITION);
     }

Twenty403/src/main/java/org/firstinspires/ftc/twenty403/subsystems/KidShampooSubsystem.java

@@ -29,6 +29,7 @@ public class KidShampooSubsystem implements Subsystem, Loggable {
     public double retainerPos;
 
     public static double RETAINER_OPEN_POSITION = .78;
+    public static double RETAINER_UP_POSITION = 0.3;
 
     public static double RETAINER_CLOSE_POSITION = .52;
 
@@ -65,6 +66,10 @@ public void openRetainer() {
         setRetainerPosition(RETAINER_OPEN_POSITION);
     }
 
+    public void upRetainer() {
+        setRetainerPosition(RETAINER_UP_POSITION);
+    }
+
     public void closeRetainer() {
         setRetainerPosition(RETAINER_CLOSE_POSITION);
     }