Try not to fry linear slides

Big-Green-7245 · Jan 5, 2024 · 82748c2 · 82748c2
1 parent 832ea28
commit 82748c2
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/TeleOp.java b/TeleOp.java
@@ -3,6 +3,7 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
+
 import org.firstinspires.ftc.teamcode.modules.DriveTrain;
 import org.firstinspires.ftc.teamcode.modules.output.LinearSlide;
 import org.firstinspires.ftc.teamcode.modules.output.MotorOutputPivot;
@@ -16,7 +17,7 @@
 public class TeleOp extends LinearOpMode {
     // Define attributes
     private final String programVer = "2.0";
-    private final double speedMultiplier = 0.95;
+    private final double speedMultiplier = 0.99;
 
     // Declare modules
     private ButtonHelper gp1, gp2;
@@ -73,8 +74,9 @@ public void runOpMode() {
         waitForStart();
 
         while (opModeIsActive()) {
-            TelemetryWrapper.setLine(2, "LeftSlidePos" + outputSlide.getCurrentPosition()[0]);
-            TelemetryWrapper.setLine(3, "RightSlidePos" + outputSlide.getCurrentPosition()[1]);
+            TelemetryWrapper.setLine(2, "Output Box Lock State " + currentLockState);
+            TelemetryWrapper.setLine(3, "LeftSlidePos" + outputSlide.getCurrentPosition()[0]);
+            TelemetryWrapper.setLine(4, "RightSlidePos" + outputSlide.getCurrentPosition()[1]);
             // Update ButtonHelper
             gp1.update();
             gp2.update();
@@ -85,7 +87,7 @@ public void runOpMode() {
             intakeWheel.setPower((gamepad2.right_trigger - gamepad2.left_trigger) * 0.8);
 
             if (Math.abs(gamepad2.left_stick_y) > 0.001) {
-                outputSlide.startMoveToRelativePos((int) (-gamepad2.left_stick_y * 100));
+                outputSlide.startMoveToRelativePos((int) -gamepad2.left_stick_y * 100);
             }
             if (gp2.pressing(ButtonHelper.b)) {
                 outputSlide.startMoveToPos(1430);
@@ -105,7 +107,7 @@ public void runOpMode() {
             } else if (servoOutputPivot.isFinished()) {
                 servoOutputPivot.setPower(0);
             }
-            if (gp2.pressed(ButtonHelper.dpad_up)){
+            if (gp2.pressed(ButtonHelper.dpad_up)) {
                 servoOutputPivot.togglePivot();
             }
             servoOutputPivot.tick();
@@ -126,7 +128,7 @@ public void runOpMode() {
                 secondPixel.setAction(lockStates[currentLockState][1]);
             }
 
-            if (gp2.pressing(ButtonHelper.x)){
+            if (gp2.pressing(ButtonHelper.x)) {
                 planeLaunch.toggleAction();
             }
         }

diff --git a/modules/output/LinearSlide.java b/modules/output/LinearSlide.java
@@ -2,10 +2,8 @@
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.TouchSensor;
-import com.qualcomm.robotcore.util.Statistics;
 
 import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
 import org.firstinspires.ftc.teamcode.modules.Modulable;
@@ -56,7 +54,7 @@ public void moveUsingEncoder(double power) {
     }
 
     public void startMoveToRelativePos(int relativePosition) {
-        startMoveToPos((elevatorLeft.getCurrentPosition() + elevatorRight.getCurrentPosition()) / 2 + relativePosition);
+        startMoveToPos(Math.max((elevatorLeft.getCurrentPosition() + elevatorRight.getCurrentPosition()) / 2 + relativePosition, 10));
     }
 
     public void startMoveToPos(int position) {
@@ -75,7 +73,7 @@ public void startMoveToPos(int position) {
      * YOU MUST call {@link #tick()} in a loop to stop the intakeSlide when it reaches the ground.
      */
     public void startRetraction() {
-        startMoveToPos(0);
+        startMoveToPos(10);
     }
 
     /**