feat: drone api (#49)

Co-authored-by: Vifi5 <117041326+Vif15@users.noreply.github.com>

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Drone.kt

@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.api
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.Servo
+import org.firstinspires.ftc.teamcode.utils.RobotConfig
+
+/**
+ * An API to control the drone launcher.
+ */
+object Drone : API() {
+ private lateinit var pin: Servo
+
+ override fun init(opMode: OpMode) {
+ super.init(opMode)
+
+ this.pin = this.opMode.hardwareMap.get(Servo::class.java, "pin")
+
+ this.resetPin()
+ }
+
+ /** Moves the pin to the open position, releasing the drone. */
+ fun releasePin() {
+ this.pin.position = RobotConfig.Drone.OPEN_PIN
+ }
+
+ /** Resets the pin to its default, closed, position. */
+ private fun resetPin() {
+ this.pin.position = RobotConfig.Drone.CLOSE_PIN
+ }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/autonomous/AutoMain.kt

@@ -4,6 +4,7 @@ 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.api.Box
+import org.firstinspires.ftc.teamcode.api.Drone
 import org.firstinspires.ftc.teamcode.api.Telemetry
 import org.firstinspires.ftc.teamcode.api.TriWheels
 import org.firstinspires.ftc.teamcode.api.linear.Encoders
@@ -31,6 +32,7 @@ abstract class AutoMain : LinearOpMode() {
  TriWheels.init(this)
  Encoders.init(this)
  Box.init(this)
+ Drone.init(this)
 
  // Vision APIs
  // AprilVision.init(this)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt

@@ -4,6 +4,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import com.qualcomm.robotcore.hardware.DcMotor
 import org.firstinspires.ftc.teamcode.api.Box
+import org.firstinspires.ftc.teamcode.api.Drone
 import org.firstinspires.ftc.teamcode.api.GamepadEx
 import org.firstinspires.ftc.teamcode.api.LinearSlide
 import org.firstinspires.ftc.teamcode.api.Telemetry
@@ -18,9 +19,6 @@ class TeleOpMain : OpMode() {
  // Whether the linear slide should remain locked in place or not.
  private var slideLocked = false
 
- // Whether the robot should drive along the main axis or the pushbot axis.
- private var pushBotAxis = false
-
  // init will run once
  override fun init() {
  // Setup special telemetry
@@ -37,6 +35,9 @@ class TeleOpMain : OpMode() {
  // Box controls
  Box.init(this)
 
+ // Drone controls
+ Drone.init(this)
+
  // Log that we are initialized
  Telemetry.sayInitialized()
  }
@@ -54,13 +55,7 @@ class TeleOpMain : OpMode() {
 
  // angle and strength
  // PI / 3 because 0 radians is right, not forward
- val joyRadians =
- atan2(joyY, joyX) - (PI / 3.0) +
- if (this.pushBotAxis) {
- 2.0 * PI / 3.0
- } else {
- 0.0
- }
+ val joyRadians = atan2(joyY, joyX) - (PI / 3.0)
 
  val joyMagnitude = sqrt(joyY * joyY + joyX * joyX)
 
@@ -107,10 +102,9 @@ class TeleOpMain : OpMode() {
  Box.pickUpBox()
  }
 
- if (gamepad.y) {
- this.pushBotAxis = true
- } else if (gamepad.x) {
- this.pushBotAxis = false
+ // Input to launch drone.
+ if (gamepad.x && gamepad.y) {
+ Drone.releasePin()
  }
 
  // movement of all wheels

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/RobotConfig.kt

@@ -155,6 +155,16 @@ object RobotConfig {
  var SLIDE_DOWN_POWER: Double = -0.4
  }
 
+ /** Configurations related to the Drone API. */
+ @Config
+ object Drone {
+ @JvmField
+ var OPEN_PIN: Double = 0.5
+
+ @JvmField
+ var CLOSE_PIN: Double = 0.0
+ }
+
  /**
  * Represents what model of robot is running the code.
  *