Viggo's Ptechnodactyl work

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/commands/JoystickDriveCommand.java

@@ -107,8 +107,8 @@ public void execute() {
 
             // The math & signs looks wonky, because this makes things field-relative
             // (Remember that "3 O'Clock" is zero degrees)
-            double yvalue = -y.getAsDouble();
-            double xvalue = -x.getAsDouble();
+            double yvalue = y.getAsDouble();
+            double xvalue = x.getAsDouble();
             if (driveStraighten != null) {
                 if (driveStraighten.getAsDouble() > 0.7) {
                     if (Math.abs(yvalue) > Math.abs(xvalue)) xvalue = 0;

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/commands/JoystickIncDecCmd.java

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.ptechnodactyl.commands;
 
+import com.qualcomm.robotcore.util.ElapsedTime;
 import com.technototes.library.command.Command;
 import com.technototes.library.control.Stick;
 import com.technototes.library.logger.Loggable;
@@ -10,6 +11,11 @@ public class JoystickIncDecCmd implements Command, Loggable {
 
     public ClawSubsystem subsystem;
     public DoubleSupplier x;
+    public static ElapsedTime timer;
+
+    public static double time;
+
+    public double interval = 1.5;
 
     public JoystickIncDecCmd(ClawSubsystem sub, Stick xStick) {
         addRequirements(sub);
@@ -23,7 +29,10 @@ public JoystickIncDecCmd(ClawSubsystem sub, Stick xStick) {
     @Override
     public void execute() {
         double xvalue = -x.getAsDouble();
+        //        time = timer.time();
+        //        if (interval < time)
         subsystem.increment(xvalue);
+        //            timer.reset();
     }
 
     @Override

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/controllers/DriverController.java

@@ -18,8 +18,6 @@ public class DriverController {
     public Stick driveLeftStick, driveRightStick;
     public CommandButton resetGyroButton, turboButton, snailButton;
     public CommandButton override;
-    public CommandAxis driveStraighten;
-    public CommandAxis drive45;
 
     public DriverController(CommandGamepad g, Robot r) {
         this.robot = r;
@@ -36,21 +34,13 @@ private void AssignNamedControllerButton() {
         resetGyroButton = gamepad.ps_options;
         driveLeftStick = gamepad.leftStick;
         driveRightStick = gamepad.rightStick;
-        driveStraighten = gamepad.rightTrigger;
-        drive45 = gamepad.leftTrigger;
         turboButton = gamepad.leftBumper;
         snailButton = gamepad.rightBumper;
     }
 
     public void bindDriveControls() {
         CommandScheduler.scheduleJoystick(
-            new JoystickDriveCommand(
-                robot.drivebaseSubsystem,
-                driveLeftStick,
-                driveRightStick,
-                driveStraighten,
-                drive45
-            )
+            new JoystickDriveCommand(robot.drivebaseSubsystem, driveLeftStick, driveRightStick)
         );
 
         turboButton.whenPressed(DrivingCommands.TurboDriving(robot.drivebaseSubsystem));

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/controllers/OneController.java

@@ -0,0 +1,77 @@
+package org.firstinspires.ftc.ptechnodactyl.controllers;
+
+import android.support.v4.app.INotificationSideChannel;
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.control.CommandAxis;
+import com.technototes.library.control.CommandButton;
+import com.technototes.library.control.CommandGamepad;
+import com.technototes.library.control.Stick;
+import org.firstinspires.ftc.ptechnodactyl.Robot;
+import org.firstinspires.ftc.ptechnodactyl.Setup;
+import org.firstinspires.ftc.ptechnodactyl.commands.DrivingCommands;
+import org.firstinspires.ftc.ptechnodactyl.commands.JoystickDriveCommand;
+
+public class OneController {
+
+    public Robot robot;
+    public CommandGamepad gamepad;
+    public CommandButton openClaw;
+    public CommandButton closeClaw;
+    public CommandButton ArmHorizontal;
+    public CommandButton ArmVertical;
+    public Stick driveLeftStick, driveRightStick;
+    public CommandButton resetGyroButton, turboButton, snailButton;
+    public CommandButton increment;
+    public CommandButton decrement;
+
+    public OneController(CommandGamepad g, Robot r) {
+        robot = r;
+        gamepad = g;
+        AssignNamedControllerButton();
+        BindControls();
+    }
+
+    private void AssignNamedControllerButton() {
+        openClaw = gamepad.leftBumper;
+        closeClaw = gamepad.rightBumper;
+        ArmHorizontal = gamepad.ps_square;
+        ArmVertical = gamepad.ps_triangle;
+        increment = gamepad.ps_circle;
+        decrement = gamepad.ps_cross;
+        resetGyroButton = gamepad.ps_options;
+        driveLeftStick = gamepad.leftStick;
+        driveRightStick = gamepad.rightStick;
+        turboButton = gamepad.leftBumper;
+        snailButton = gamepad.rightBumper;
+    }
+
+    public void BindControls() {
+        if (Setup.Connected.CLAWSUBSYSTEM) {
+            bindClawSubsystemControls();
+        }
+        if (Setup.Connected.DRIVEBASE) {
+            bindDriveControls();
+        }
+    }
+
+    public void bindClawSubsystemControls() {
+        openClaw.whenPressed(robot.clawSubsystem::openClaw);
+        closeClaw.whenPressed(robot.clawSubsystem::closeClaw);
+        ArmVertical.whenPressed(robot.clawSubsystem::setArmVertical);
+        ArmHorizontal.whenPressed(robot.clawSubsystem::setArmHorizontal);
+        increment.whenPressed(robot.clawSubsystem::incrementn);
+        decrement.whenPressed(robot.clawSubsystem::decrement);
+    }
+
+    public void bindDriveControls() {
+        CommandScheduler.scheduleJoystick(
+            new JoystickDriveCommand(robot.drivebaseSubsystem, driveLeftStick, driveRightStick)
+        );
+
+        turboButton.whenPressed(DrivingCommands.TurboDriving(robot.drivebaseSubsystem));
+        turboButton.whenReleased(DrivingCommands.NormalDriving(robot.drivebaseSubsystem));
+        snailButton.whenPressed(DrivingCommands.SnailDriving(robot.drivebaseSubsystem));
+        snailButton.whenReleased(DrivingCommands.NormalDriving(robot.drivebaseSubsystem));
+        resetGyroButton.whenPressed(DrivingCommands.ResetGyro(robot.drivebaseSubsystem));
+    }
+}

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/controllers/OperatorController.java

@@ -1,15 +1,12 @@
 package org.firstinspires.ftc.ptechnodactyl.controllers;
 
-import com.technototes.library.command.Command;
 import com.technototes.library.command.CommandScheduler;
 import com.technototes.library.control.CommandButton;
 import com.technototes.library.control.CommandGamepad;
 import com.technototes.library.control.Stick;
 import org.firstinspires.ftc.ptechnodactyl.Robot;
 import org.firstinspires.ftc.ptechnodactyl.Setup;
-import org.firstinspires.ftc.ptechnodactyl.commands.ClawCmds;
 import org.firstinspires.ftc.ptechnodactyl.commands.JoystickIncDecCmd;
-import org.firstinspires.ftc.ptechnodactyl.subsystems.ClawSubsystem;
 
 public class OperatorController {
 
@@ -18,6 +15,9 @@ public class OperatorController {
     public CommandButton openClaw;
     public CommandButton closeClaw;
     public Stick armStick;
+    public CommandButton ArmHorizontal;
+    public CommandButton ArmVertical;
+    public CommandButton intake;
 
     public OperatorController(CommandGamepad g, Robot r) {
         robot = r;
@@ -30,6 +30,9 @@ private void AssignNamedControllerButton() {
         openClaw = gamepad.leftBumper;
         closeClaw = gamepad.rightBumper;
         armStick = gamepad.rightStick;
+        ArmHorizontal = gamepad.ps_circle;
+        ArmVertical = gamepad.ps_triangle;
+        intake = gamepad.dpadRight;
     }
 
     public void BindControls() {
@@ -39,8 +42,11 @@ public void BindControls() {
     }
 
     public void bindClawSubsystemControls() {
-        openClaw.whenPressed(ClawCmds.cmds.OpenClaw(robot.clawSubsystem));
-        closeClaw.whenPressed(ClawCmds.cmds.CloseClaw(robot.clawSubsystem));
+        openClaw.whenPressed(robot.clawSubsystem::openClaw);
+        closeClaw.whenPressed(robot.clawSubsystem::closeClaw);
+        ArmVertical.whenPressed(robot.clawSubsystem::setArmVertical);
+        ArmHorizontal.whenPressed(robot.clawSubsystem::setArmHorizontal);
+        intake.whenPressed(robot.clawSubsystem::setArmIntake);
         CommandScheduler.scheduleJoystick(new JoystickIncDecCmd(robot.clawSubsystem, armStick));
     }
 }

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/controllers/TestController.java

@@ -0,0 +1,42 @@
+package org.firstinspires.ftc.ptechnodactyl.controllers;
+
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.control.CommandButton;
+import com.technototes.library.control.CommandGamepad;
+import com.technototes.library.control.Stick;
+import org.firstinspires.ftc.ptechnodactyl.Robot;
+import org.firstinspires.ftc.ptechnodactyl.commands.JoystickIncDecCmd;
+
+public class TestController {
+
+    public Robot robot;
+    public CommandGamepad gamepad;
+    public CommandButton testPower2;
+    public CommandButton testPower;
+    public CommandButton armHorizontal;
+    public Stick armStick;
+
+    public TestController(CommandGamepad g, Robot r) {
+        robot = r;
+        gamepad = g;
+        AssignNamedControllerButton();
+        BindControls();
+    }
+
+    private void AssignNamedControllerButton() {
+        testPower = gamepad.leftBumper;
+        testPower2 = gamepad.rightBumper;
+        armStick = gamepad.rightStick;
+        armHorizontal = gamepad.ps_circle;
+    }
+
+    public void BindControls() {
+        bindTestControls();
+    }
+
+    public void bindTestControls() {
+        testPower.whenPressed(robot.clawSubsystem::powIncrement);
+        testPower2.whenPressed(robot.clawSubsystem::powDecrement);
+        CommandScheduler.scheduleJoystick(new JoystickIncDecCmd(robot.clawSubsystem, armStick));
+    }
+}

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/opmodes/tele/JustDrivingTeleOp.java

@@ -11,11 +11,12 @@
 import org.firstinspires.ftc.ptechnodactyl.Robot;
 import org.firstinspires.ftc.ptechnodactyl.Setup;
 import org.firstinspires.ftc.ptechnodactyl.commands.EZCmd;
+import org.firstinspires.ftc.ptechnodactyl.commands.JoystickIncDecCmd;
 import org.firstinspires.ftc.ptechnodactyl.controllers.DriverController;
 import org.firstinspires.ftc.ptechnodactyl.controllers.OperatorController;
 import org.firstinspires.ftc.ptechnodactyl.helpers.StartingPosition;
 
-@TeleOp(name = "Driving w/Turbo!")
+@TeleOp(name = "PT Driving w/Turbo!")
 @SuppressWarnings("unused")
 public class JustDrivingTeleOp extends CommandOpMode implements Loggable {
 

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/opmodes/tele/MotorTest.java

@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.ptechnodactyl.opmodes.tele;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.technototes.library.logger.Loggable;
+import com.technototes.library.structure.CommandOpMode;
+import org.firstinspires.ftc.ptechnodactyl.Hardware;
+import org.firstinspires.ftc.ptechnodactyl.Robot;
+import org.firstinspires.ftc.ptechnodactyl.controllers.DriverController;
+import org.firstinspires.ftc.ptechnodactyl.controllers.TestController;
+
+@TeleOp(name = "MotorTest")
+@SuppressWarnings("unused")
+public class MotorTest extends CommandOpMode implements Loggable {
+
+    public Hardware hardware;
+    public Robot robot;
+
+    public TestController test;
+
+    @Override
+    public void uponInit() {
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        hardware = new Hardware(hardwareMap);
+        robot = new Robot(hardware);
+        test = new TestController(driverGamepad, robot);
+    }
+}

Ptechnodactyl/src/main/java/org/firstinspires/ftc/ptechnodactyl/opmodes/tele/oneController.java

@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.ptechnodactyl.opmodes.tele;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.logger.Loggable;
+import com.technototes.library.structure.CommandOpMode;
+import org.firstinspires.ftc.ptechnodactyl.Hardware;
+import org.firstinspires.ftc.ptechnodactyl.Robot;
+import org.firstinspires.ftc.ptechnodactyl.commands.EZCmd;
+import org.firstinspires.ftc.ptechnodactyl.controllers.OneController;
+
+@TeleOp(name = "OneController")
+@SuppressWarnings("unused")
+public class oneController extends CommandOpMode implements Loggable {
+
+    public Hardware hardware;
+    public Robot robot;
+
+    public OneController driver;
+
+    @Override
+    public void uponInit() {
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        hardware = new Hardware(hardwareMap);
+        robot = new Robot(hardware);
+        driver = new OneController(driverGamepad, robot);
+        CommandScheduler.register(robot.clawSubsystem);
+    }
+}