20403 bug fixes

Twenty403/src/main/java/org/firstinspires/ftc/teamcode/twenty403/Hardware.java

@@ -47,7 +47,7 @@ public Hardware(HardwareMap hwmap) {
         if (Setup.Connected.INTAKE) {
             leftIntakeServo = new CRServo(Setup.HardwareNames.LEFTINTAKESERVO);
             rightIntakeServo = new CRServo(Setup.HardwareNames.RIGHTINTAKESERVO);
-            intake = new Motor<>(Setup.HardwareNames.LAUNCHER);
+            intake = new Motor<>(Setup.HardwareNames.INTAKEMOTOR);
         }
         if (Setup.Connected.LIMELIGHT) {
             limelight = hwmap.get(Limelight3A.class, Setup.HardwareNames.LIMELIGHT);

Twenty403/src/main/java/org/firstinspires/ftc/teamcode/twenty403/subsystems/IntakeSubsystem.java

@@ -65,7 +65,7 @@ public void Stop() {
 
     private void setIntakeServo(double power) {
         if (hasHardware) {
-            _leftintake.setPower(power);
+            _leftintake.setPower(-power);
             _rightintake.setPower(power);
         }
     }

Twenty403/src/main/java/org/firstinspires/ftc/teamcode/twenty403/subsystems/LauncherSubsystem.java

@@ -2,6 +2,7 @@
 
 import com.bylazar.configurables.annotations.Configurable;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.technototes.library.hardware.motor.EncodedMotor;
 import com.technototes.library.logger.Log;
@@ -17,13 +18,14 @@ public class LauncherSubsystem implements Loggable, Subsystem {
     public static double TARGET_MOTOR_VELOCITY = 1530; //.58; // 0.5 // /1.0
 
     boolean hasHardware;
-    public static EncodedMotor<DcMotorEx> top;
+    public static EncodedMotor<DcMotorEx> launchMotor;
     // this doesn't really matter as much since f calculation is just overriding it :(
     public static PIDFCoefficients launcherP = new PIDFCoefficients(0.006, 0.0, 0.0, 0);
     public static double SPIN_F_SCALE = 0.00016;
     public static double SPIN_VOLT_COMP = 0.0216;
     public static double DIFFERENCE = 0.0046;
     public static double PEAK_VOLTAGE = 13;
+    public static boolean ISLAUNCHMOTORREVERSED = true;
     private static PIDFController launcherPID;
     private double voltage;
 
@@ -45,8 +47,14 @@ public LauncherSubsystem(Hardware h) {
         hasHardware = Setup.Connected.LAUNCHER;
         // Do stuff in here
         if (hasHardware) {
-            top = h.launcher;
-            top.coast();
+            launchMotor = h.launcher;
+            launchMotor.coast();
+            if (ISLAUNCHMOTORREVERSED) {
+                launchMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+            } else {
+                launchMotor.setDirection(DcMotorSimple.Direction.FORWARD);
+            }
+
             double ADDITION = PEAK_VOLTAGE - h.voltage();
             if (ADDITION == 0) {
                 SPIN_VOLT_COMP = SPIN_VOLT_COMP + 0.001;
@@ -61,7 +69,7 @@ public LauncherSubsystem(Hardware h) {
             //            top.setPIDFCoefficients(launcherP);
             setTargetSpeed(0);
         } else {
-            top = null;
+            launchMotor = null;
         }
     }
 
@@ -98,7 +106,7 @@ public void DecreaseVelocity() {
     }
 
     public boolean GetCurrentTargetVelocity() {
-        return top.getVelocity() >= 1300;
+        return launchMotor.getVelocity() >= 1300;
     }
 
     public void Stop() {
@@ -120,14 +128,14 @@ public double getTargetSpeed() {
 
     private void setMotorPower(double pow) {
         double power = Math.clamp(pow, -1, 1);
-        if (top != null) {
-            top.setPower(power);
+        if (launchMotor != null) {
+            launchMotor.setPower(power);
         }
     }
 
     public double getMotorSpeed() {
-        if (top != null) {
-            return top.getVelocity();
+        if (launchMotor != null) {
+            return launchMotor.getVelocity();
         }
         return -1;
     }
@@ -137,7 +145,7 @@ public void periodic() {
         setMotorPower(launcherPID.update(getMotorSpeed()));
         err = launcherPID.getLastError();
         MOTOR_VELOCITY = getMotorSpeed();
-        power = top.getPower();
+        power = launchMotor.getPower();
         // launcherP.f =  SPIN_F_SCALE * target + SPIN_VOLT_COMP * Math.min(PEAK_VOLTAGE, Hardware.voltage());
     }
 }

Twenty403/src/main/java/org/firstinspires/ftc/teamcode/twenty403/validation/IntakeValidator.java

@@ -16,7 +16,7 @@ public class IntakeValidator extends ValidationOpMode {
     private CRServo right;
     public static double intakeVelocity = 2000;
     public static double intakeVelocity2 = -200;
-    public static double spinLeftFlower = -1;
+    public static double spinLeftFlower = 1;
     public static double spinRightFlower = 1;
 
     @Override
@@ -36,16 +36,28 @@ public void loop() {
             intakeMotor.setVelocity(intakeVelocity);
         } else if (this.gamepad1.dpad_down) {
             intakeMotor.setVelocity(intakeVelocity2);
+        } else {
+            intakeMotor.setVelocity(0);
         }
 
-        addLine("Press left on d-pad to intake left");
-        if (this.gamepad1.dpad_left) {
+        addLine("Press left bumper to intake left side (positive)");
+        addLine("Press left trigger to intake left side (negative)");
+        if (this.gamepad1.left_bumper) {
             left.setPower(spinLeftFlower);
+        } else if (this.gamepad1.left_trigger_pressed) {
+            left.setPower(-spinLeftFlower);
+        } else {
+            left.setPower(0);
         }
 
-        addLine("Press right on d-pad to intake right");
-        if (this.gamepad1.dpad_right) {
+        addLine("Press right bumper to intake right side (positive)");
+        addLine("Press right trigger to intake right side (negative)");
+        if (this.gamepad1.right_bumper) {
             right.setPower(spinRightFlower);
+        } else if (this.gamepad1.right_trigger_pressed) {
+            right.setPower(-spinRightFlower);
+        } else {
+            right.setPower(0);
         }
     }
 }

Twenty403/src/main/java/org/firstinspires/ftc/teamcode/twenty403/validation/LaunchValidator.java

@@ -15,9 +15,7 @@ public class LaunchValidator extends ValidationOpMode {
     private DcMotorEx launchmotor;
     private CRServo spinnything;
     public static double launchvelocity = 2000;
-    public static double intakeVelocity2 = -200;
-    public static double spinspeed = -1;
-    public static double spinRightFlower = 1;
+    public static double spinspeed = 1;
 
     @Override
     public void init() {
@@ -30,16 +28,22 @@ public void init() {
     @Override
     public void loop() {
         super.loop();
-        addLine("Press up on d-pad to launch");
+        addLine("Press up on d-pad to spin launcher (positive)");
+        addLine("Press down on d-pad to spin launch (negative)");
         if (this.gamepad1.dpad_up) {
             launchmotor.setVelocity(launchvelocity);
+        } else if (this.gamepad1.dpad_down) {
+            launchmotor.setVelocity(-launchvelocity);
         } else {
             launchmotor.setVelocity(0);
         }
 
-        addLine("Press right bumper to spin");
+        addLine("Press right bumper to spin transfer (positive)");
+        addLine("Press left bumper to spin transfer (negative)");
         if (this.gamepad1.right_bumper) {
             spinnything.setPower(spinspeed);
+        } else if (this.gamepad1.left_bumper) {
+            spinnything.setPower(-spinspeed);
         } else {
             spinnything.setPower(0);
         }