From 7bfb9c267e34e4b91c6ee77e8f5fdd9765559801 Mon Sep 17 00:00:00 2001
From: abirarun <146149304+abirarun@users.noreply.github.com>
Date: Sat, 11 Jan 2025 21:11:46 -0800
Subject: [PATCH] lights

---
 .../java/org/firstinspires/ftc/teamcode/Hardware.java |  6 +++++-
 .../firstinspires/ftc/teamcode/MecanumTeleOp2.java    | 11 ++++++++++-
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
index 3eadc4367bc5..ea96d117356c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Hardware.java
@@ -22,7 +22,7 @@
 
 public class Hardware extends HardwareMapper implements TriOdoProvider {
     public static final double spinTickPerRev = 751.8;
-    public static final double RIGHT_SLIDE_OUT = 0.72;
+    public static final double RIGHT_SLIDE_OUT = 0.64;
     @Deprecated public static final double LEFT_SLIDE_OUT = 1 - RIGHT_SLIDE_OUT;
     public static final double RIGHT_SLIDE_IN = 0.45;
     @Deprecated public static final double LEFT_SLIDE_IN = 1 - RIGHT_SLIDE_IN;
@@ -43,6 +43,7 @@ public class Hardware extends HardwareMapper implements TriOdoProvider {
     public static final double LAMP_ORANGE = 0.333;
     public static final double LAMP_YELLOW = 0.36;
     public static final double LAMP_PURPLE = 0.700;
+    public static final double LAMP_WHITE = 1.0;
 
     public static int deg2arm(double degrees) {
         return (int) (degrees / 360.0 * spinTickPerRev);
@@ -150,6 +151,9 @@ public static class Locks {
     @HardwareName("lightRight")
     public Servo lightRight;
 
+    @HardwareName("limelightlight")
+    public Servo limelightlight;
+
     @HardwareName("clawColor")
     public ColorSensor clawColor;
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
index 93453e7e26b1..4dbfa7406085 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
@@ -4,11 +4,14 @@
 import static java.lang.Math.abs;
 
 import android.annotation.SuppressLint;
+import android.database.AbstractCursor;
+import android.icu.util.IslamicCalendar;
 
 import com.qualcomm.hardware.kauailabs.NavxMicroNavigationSensor;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@@ -125,7 +128,7 @@ private void hardwareInit() {
 
         hardware.lightLeft.setPosition(Hardware.LAMP_PURPLE);
         hardware.lightRight.setPosition(Hardware.LAMP_PURPLE);
-
+        hardware.limelightlight.setPosition(Hardware.LAMP_WHITE);
         navxMicro = hardware.gyro;
     }
 
@@ -237,6 +240,7 @@ public void runOpMode() {
             stepper();
             lift();
             arm();
+            LimelightHeadlight();
 
             boolean shouldScoreHigh = gamepad2.left_trigger > 0.5;
             boolean shouldScoreHigh2 = gamepad2.right_trigger > 0.5;
@@ -656,4 +660,9 @@ public void transfer() {
         transferInternal();
     }
 
+    public void LimelightHeadlight(){
+        if(hardware.horizontalSlide.getPosition() == Hardware.RIGHT_SLIDE_OUT){
+            hardware.limelightlight.setPosition(Hardware.LAMP_WHITE);
+        }
+    }
 }