basic subsystems

ftc13100 · Nov 20, 2024 · fbb95c0 · fbb95c0
1 parent 15e13a1
commit fbb95c0
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Showing 3 changed files with 17 additions and 9 deletions.
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt
@@ -2,14 +2,13 @@ package org.firstinspires.ftc.teamcode.commands.drive
 
 import com.arcrobotics.ftclib.command.CommandBase
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
-import java.util.function.DoubleSupplier
 import kotlin.math.pow
 
 class DriveCommand(
     private val subsystem: DriveSubsystem,
-    private val leftX: DoubleSupplier,
-    private val leftY: DoubleSupplier,
-    private val rightX: DoubleSupplier,
+    private val leftX: () -> Double,
+    private val leftY: () -> Double,
+    private val rightX: () -> Double,
     private val zoneVal: Double,
 ) : CommandBase() {
     init {
@@ -18,9 +17,9 @@ class DriveCommand(
 
     override fun execute() {
         subsystem.drive(
-            leftY = zonedDrive(-leftY.asDouble, zoneVal).pow(3),
-            leftX = zonedDrive(leftX.asDouble, zoneVal).pow(3),
-            rightX = zonedDrive(rightX.asDouble, zoneVal).pow(3),
+            leftY = zonedDrive(-leftY.invoke(), zoneVal).pow(3),
+            leftX = zonedDrive(leftX.invoke(), zoneVal).pow(3),
+            rightX = zonedDrive(rightX.invoke(), zoneVal).pow(3),
         )
     }
 

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
@@ -1,5 +1,14 @@
 package org.firstinspires.ftc.teamcode.subsystems.intake
 
 import com.arcrobotics.ftclib.command.SubsystemBase
+import com.arcrobotics.ftclib.hardware.motors.CRServo
 
-class IntakeSubsystem : SubsystemBase()
+class IntakeSubsystem(
+    private val intake: CRServo
+) : SubsystemBase() {
+    fun intake() = intake.set(1.0)
+
+    fun outtake() = intake.set(-1.0)
+
+    fun stop() = intake.stop()
+}