added climb winch controlls to testing file

Juice-Robotics · Dec 27, 2024 · 650350c · 650350c
1 parent 41f9149
commit 650350c
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/tuning/ClimbTestEncoders.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/tuning/ClimbTestEncoders.java
@@ -8,13 +8,16 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.AnalogInput;
 
+import org.firstinspires.ftc.teamcode.Robot;
+
 @TeleOp(group = "competition")
 @Config
 public class ClimbTestEncoders extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
         AnalogInput climb1Encoder = hardwareMap.get(AnalogInput.class, "climb1Encoder");
         AnalogInput climb2Encoder = hardwareMap.get(AnalogInput.class, "climb2Encoder");
+        Robot robot = new Robot(hardwareMap, false);
 
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
 
@@ -28,6 +31,15 @@ public void runOpMode() throws InterruptedException {
             telemetry.addData("climb1", climb1);
             telemetry.addData("climb2", climb2);
 
+            if (gamepad1.dpad_up){
+                robot.climbWinch.setPower(1);
+            }
+            else if (gamepad1.dpad_down){
+                robot.climbWinch.setPower(-1);
+            }else{
+                robot.climbWinch.setPower(0);
+            }
+
             telemetry.update();
         }
     }