From 83f26089349d0403ff0887a51749578264ebefaa Mon Sep 17 00:00:00 2001
From: FTC16750 <technototes@outlook.com>
Date: Sat, 2 Nov 2024 18:16:23 -0700
Subject: [PATCH] 16750 Horizontal slides done - is working - Maggie

---
 .../slides/HorizontalSlidesCommands.java      |  8 ++----
 .../controls/OperatorController.java          | 28 +++++++++----------
 .../subsystems/HorizontalSlidesSubsystem.java |  4 +--
 3 files changed, 19 insertions(+), 21 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 2425a0d..a4590f9 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
@@ -2,6 +2,7 @@
 
 import com.technototes.library.command.Command;
 import com.technototes.library.command.SequentialCommandGroup;
+import com.technototes.library.command.WaitCommand;
 import org.firstinspires.ftc.sixteen750.Robot;
 
 public class HorizontalSlidesCommands {
@@ -43,11 +44,7 @@ public static SequentialCommandGroup transferring(Robot r) {
                 r.horizontalSlidesSubsystem::ClawWristServoTransfer,
                 r.horizontalSlidesSubsystem
             ),
-            Command.create(r.horizontalSlidesSubsystem::slidesin, r.horizontalSlidesSubsystem),
-            Command.create(
-                r.horizontalSlidesSubsystem::ClawServoBigOpen,
-                r.horizontalSlidesSubsystem
-            )
+            Command.create(r.horizontalSlidesSubsystem::slidesin, r.horizontalSlidesSubsystem)
             // commands for vertical slide bucket transfer position first, then wrist transferring
         );
     }
@@ -80,6 +77,7 @@ public static SequentialCommandGroup intake(Robot r) {
                 r.horizontalSlidesSubsystem
             ),
             Command.create(r.horizontalSlidesSubsystem::slidesout, r.horizontalSlidesSubsystem),
+            new WaitCommand(1),
             Command.create(
                 r.horizontalSlidesSubsystem::ClawWristServoPickup,
                 r.horizontalSlidesSubsystem
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 0a59b18..6a36c92 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
@@ -32,15 +32,15 @@ public OperatorController(CommandGamepad g, Robot r) {
     }
 
     private void AssignNamedControllerButton() {
-        openClaw = gamepad.ps_circle;
-        closeClaw = gamepad.ps_cross;
-        wristTransfer = gamepad.ps_triangle;
-        wristPickup = gamepad.ps_square;
-        wristIncrement = gamepad.dpadRight;
-        wristDecrement = gamepad.dpadLeft;
+        openClaw = gamepad.rightBumper;
+        closeClaw = gamepad.leftBumper;
+        //wristTransfer = gamepad.ps_triangle;
+        //wristPickup = gamepad.ps_square;
+        //wristIncrement = gamepad.dpadRight;
+        //wristDecrement = gamepad.dpadLeft;
         horislidesLeftStick = gamepad.leftStick;
-        horislidesExtend = gamepad.dpadUp;
-        horislidesRetract = gamepad.dpadDown;
+        horislidesExtend = gamepad.ps_triangle;
+        horislidesRetract = gamepad.ps_cross;
     }
 
     private void BindButtons() {
@@ -54,12 +54,12 @@ private void BindButtons() {
     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));
-        horislidesExtend.whenPressed(HorizontalSlidesCommands.horizontalExtend(robot));
-        horislidesRetract.whenPressed(HorizontalSlidesCommands.horizontalRetract(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));
     }
 
     public void bindHorizontalAnalogControls() {
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 6c59754..8173f0e 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
@@ -26,8 +26,8 @@ public class HorizontalSlidesSubsystem implements Subsystem, Loggable {
 
     public static double LinkServoExtend = 0.6;
     public static double LinkServoRetract = 1;
-    public static double ClawServoClose = 0.1;
-    public static double ClawServoOpen = 0.5;
+    public static double ClawServoClose = 0.3;
+    public static double ClawServoOpen = 0.8;
     public static double WristServoTransfer = 0.3;
     public static double WristServoPickup = 1;
     public static double WristServoIncrement = 0.555;