tidy

Author: alicelavander

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/Arm.java

@@ -102,19 +102,6 @@ public void setArmExtensionPosition(int position){
 
     //general
     public void toPosition(int position, int rotator, boolean pivot, Telemetry t){
-        //TODO
-    }
-
-    public void update() {
-        //TODO
-        //this touch sensor is flipped
-//        if(!slideZeroReset.isPressed()) armExtension.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-
-        //claw rotator
-//        if(rotateClaw) moveClawRotator(rotatorLevel);
-//
-//        wrist.setPosition(clawPivotPosition);
-
         if (armExtension.getTargetPosition() == 0){
 //            armExtension.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 //            //the touch sensor is flipped
@@ -143,6 +130,29 @@ else if (arm.getCurrentPosition() > arm.getTargetPosition()) {
         } else arm.setPower(0.0);
     }
 
+    public void update() {
+        //armExtension
+        if (armExtension.getTargetPosition() == 0){
+            armExtension.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            if(armExtension.isBusy()) armExtension.setPower(1);
+            else armExtension.setPower(0.0);
+        } else if(armExtension.isBusy()) {
+            armExtension.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            if(armExtension.getTargetPosition() == EXTEND) armExtension.setPower(1.0);
+            else armExtension.setPower(1);
+        } else armExtension.setPower(0.0);
+
+        //arm (lift)
+        if (arm.isBusy()) {
+            if(arm.getTargetPosition() != GROUND) arm.setPower(0.8);
+            else if (arm.getCurrentPosition() > arm.getTargetPosition()) {
+                if (arm.getCurrentPosition() > 800) arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+                else arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+                arm.setPower(0.0);
+            }
+        } else arm.setPower(0.0);
+    }
+
     public int getArmPosition() {return arm.getCurrentPosition();}
     public int getArmTargetPosition() {return arm.getTargetPosition();}
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/old/Arm.java

@@ -1,16 +1,19 @@
 package org.firstinspires.ftc.teamcode.opmodes.autonomous;
 
+import com.acmerobotics.roadrunner.Pose2d;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
+import org.firstinspires.ftc.teamcode.components.drive.MecanumDrive;
+
 @Disabled
 @Autonomous(name="Base Autonomous")
 public class _BaseAutonomous extends LinearOpMode {
     @Override
     public void runOpMode() {
         //initialize components
-//        Chassis chassis = new Chassis(hardwareMap);
+//        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 
         telemetry.addLine("waiting to start!");
         telemetry.update();