From 7637a7bb0a108c79a3fa460e0801eb0ec8b54731 Mon Sep 17 00:00:00 2001
From: FTC16750 <technototes@outlook.com>
Date: Sat, 2 Nov 2024 20:30:08 -0700
Subject: [PATCH] 16750 Horizontal slides testing - what is currently on the
 bot - Maggie

---
 .../slides/HorizontalSlidesCommands.java      |  4 ++--
 .../controls/OperatorController.java          | 22 +++++++++----------
 .../subsystems/HorizontalSlidesSubsystem.java |  2 +-
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/slides/HorizontalSlidesCommands.java b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/slides/HorizontalSlidesCommands.java
index a4590f9..f3d91aa 100644
--- a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/slides/HorizontalSlidesCommands.java
+++ b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/commands/slides/HorizontalSlidesCommands.java
@@ -44,7 +44,7 @@ public static SequentialCommandGroup transferring(Robot r) {
                 r.horizontalSlidesSubsystem::ClawWristServoTransfer,
                 r.horizontalSlidesSubsystem
             ),
-            Command.create(r.horizontalSlidesSubsystem::slidesin, r.horizontalSlidesSubsystem)
+            horizontalRetract(r)
             // commands for vertical slide bucket transfer position first, then wrist transferring
         );
     }
@@ -76,7 +76,7 @@ public static SequentialCommandGroup intake(Robot r) {
                 r.horizontalSlidesSubsystem::ClawWristServoTransfer,
                 r.horizontalSlidesSubsystem
             ),
-            Command.create(r.horizontalSlidesSubsystem::slidesout, r.horizontalSlidesSubsystem),
+            horizontalExtend(r),
             new WaitCommand(1),
             Command.create(
                 r.horizontalSlidesSubsystem::ClawWristServoPickup,
diff --git a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/controls/OperatorController.java b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/controls/OperatorController.java
index 6a36c92..a65044b 100644
--- a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/controls/OperatorController.java
+++ b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/controls/OperatorController.java
@@ -32,12 +32,12 @@ public OperatorController(CommandGamepad g, Robot r) {
     }
 
     private void AssignNamedControllerButton() {
-        openClaw = gamepad.rightBumper;
-        closeClaw = gamepad.leftBumper;
-        //wristTransfer = gamepad.ps_triangle;
-        //wristPickup = gamepad.ps_square;
-        //wristIncrement = gamepad.dpadRight;
-        //wristDecrement = gamepad.dpadLeft;
+        openClaw = gamepad.leftBumper;
+        closeClaw = gamepad.rightBumper;
+        wristTransfer = gamepad.ps_circle;
+        wristPickup = gamepad.ps_square;
+        wristIncrement = gamepad.dpadRight;
+        wristDecrement = gamepad.dpadLeft;
         horislidesLeftStick = gamepad.leftStick;
         horislidesExtend = gamepad.ps_triangle;
         horislidesRetract = gamepad.ps_cross;
@@ -47,17 +47,17 @@ private void BindButtons() {
         // Remember to only bind buttons for attached subsystems
         if (Setup.Connected.HORIZONTALSLIDESUBSYSTEM) {
             bindHorizontalSlidesControls();
-            //bindHorizontalAnalogControls(); // not yet tested
+            bindHorizontalAnalogControls();
         }
     }
 
     private void bindHorizontalSlidesControls() {
         openClaw.whenPressed(HorizontalSlidesCommands.clawOpen(robot));
         closeClaw.whenPressed(HorizontalSlidesCommands.clawChomp(robot));
-        //wristPickup.whenPressed(HorizontalSlidesCommands.wristPickup(robot));
-        //wristTransfer.whenPressed(HorizontalSlidesCommands.wristTransfer(robot));
-        //wristIncrement.whenPressed(HorizontalSlidesCommands.wristIncrement(robot));
-        //wristDecrement.whenPressed(HorizontalSlidesCommands.wristDecrement(robot));
+        wristPickup.whenPressed(HorizontalSlidesCommands.wristPickup(robot));
+        wristTransfer.whenPressed(HorizontalSlidesCommands.wristTransfer(robot));
+        wristIncrement.whenPressed(HorizontalSlidesCommands.wristIncrement(robot));
+        wristDecrement.whenPressed(HorizontalSlidesCommands.wristDecrement(robot));
         horislidesExtend.whenPressed(HorizontalSlidesCommands.intake(robot));
         horislidesRetract.whenPressed(HorizontalSlidesCommands.transferring(robot));
     }
diff --git a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java
index 8173f0e..6342073 100644
--- a/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java
+++ b/Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/subsystems/HorizontalSlidesSubsystem.java
@@ -30,7 +30,7 @@ public class HorizontalSlidesSubsystem implements Subsystem, Loggable {
     public static double ClawServoOpen = 0.8;
     public static double WristServoTransfer = 0.3;
     public static double WristServoPickup = 1;
-    public static double WristServoIncrement = 0.555;
+    public static double WristServoIncrement = 0.2;
 
     @Log(name = "wristTarget")
     public double wristTargetPos;