TeamCode/org.firstinspires.ftc.teamcode.features/ArmClaw

ArmClaw

public final class ArmClaw extends Feature implements Buildable

this runs the grabber, intake, and claw pivot mechanism. Dpad left is to close the left grabber, Dpad right closes the right grabber, Dpad up opens both grabbers, Dpad down starts/stops the intake, the bumpers rotate the claw mechanism, and the triggers move the arms.

All controls are in controller 2

The SHARE/BACK button resets the home position of the arm

The OPTIONS/START button disables auto claw rotation and the auto lift

Constructors

public ArmClaw ArmClaw()

Types

public enum ControlMode extends Enum<ArmClaw.ControlMode>

HolderPositions

public enum HolderPositions extends Enum<ArmClaw.HolderPositions>

public enum KeyPositions extends Enum<ArmClaw.KeyPositions>

This method contains five key positions for the arm. Home represents the initial position, with the arm stowed. One through five represent five different positions for the arm to be in. The ONE position is also the position used as the threshold for the auto claw rotation.

SelectorPositions

public enum SelectorPositions extends Enum<ArmClaw.SelectorPositions>

Properties

private final ArmClaw.ControlMode armControlMode

armDistanceSensor

private final Double armDistanceSensor

private Boolean auto

clawReleaseControlMode

private final ArmClaw.ControlMode clawReleaseControlMode

clawRotationControlMode

private final ArmClaw.ControlMode clawRotationControlMode

private ScriptParameters environment

intakeControlMode

private final ArmClaw.ControlMode intakeControlMode

private final Boolean isComplete

public final static Integer L_CLOSED

public final static Integer L_OPEN

public final String name

public final Boolean needsInit

pixelHolderPosition

private ArmClaw.HolderPositions pixelHolderPosition

pixelPositionSelector

private ArmClaw.SelectorPositions pixelPositionSelector

public final static Integer R_CLOSED

public final static Integer R_OPEN

Functions

armEmergencyStop

public final Unit armEmergencyStop()

public final Unit autoRaiseArm(Integer height)

public final Unit autoRaiseArm(ArmClaw.KeyPositions pos)

autoRotateClaw1

public final Unit autoRotateClaw1(Double i)

autoRotateClaw2

public final Unit autoRotateClaw2(Double i)

autoStartIntake

public final Unit autoStartIntake()

public final Unit autoStopIntake()

blockHumanArmControl

public final Unit blockHumanArmControl()

blockHumanClawReleaseControl

public final Unit blockHumanClawReleaseControl()

blockHumanClawRotationControl

public final Unit blockHumanClawRotationControl()

blockHumanIntakeControl

public final Unit blockHumanIntakeControl()

public Unit build()

The method to run when a feature is being built.

closeLeftGrabber

public final Unit closeLeftGrabber()

closeRightGrabber

public final Unit closeRightGrabber()

getArmControlMode

public final ArmClaw.ControlMode getArmControlMode()

getArmDistanceSensor

public final Double getArmDistanceSensor()

public final Boolean getAuto()

getClawReleaseControlMode

public final ArmClaw.ControlMode getClawReleaseControlMode()

getClawRotationControlMode

public final ArmClaw.ControlMode getClawRotationControlMode()

public final ScriptParameters getEnvironment()

getIntakeControlMode

public final ArmClaw.ControlMode getIntakeControlMode()

getPixelHolderPosition

public final ArmClaw.HolderPositions getPixelHolderPosition()

getPixelPositionSelector

public final ArmClaw.SelectorPositions getPixelPositionSelector()

public Unit init(ScriptParameters parameters)

isArmLiftingInProgress

public final Boolean isArmLiftingInProgress()

public final Boolean isComplete()

public Unit loop()

The method to run on every loop of this feature. If this feature is conditional, this will only run if Conditional.when returns true.

openLeftGrabber

public final Unit openLeftGrabber()

openRightGrabber

public final Unit openRightGrabber()

public Unit run(ScriptParameters parameters)

public final Unit servoPickupPos()

public final Unit setAuto(Boolean auto)

public final Unit setEnvironment(ScriptParameters environment)

setHumanArmControl

public final Unit setHumanArmControl()

setHumanClawReleaseControl

public final Unit setHumanClawReleaseControl()

setHumanClawRotationControl

public final Unit setHumanClawRotationControl()

setHumanIntakeControl

public final Unit setHumanIntakeControl()

setPixelHolderPosition

public final Unit setPixelHolderPosition(ArmClaw.HolderPositions pixelHolderPosition)

setPixelPositionSelector

public final Unit setPixelPositionSelector(ArmClaw.SelectorPositions pixelPositionSelector)