making life easier for drivers since 2024(pick up and store specimejn)

GearUp12499-org · Nov 30, 2024 · 90e5e8c · 90e5e8c
1 parent 6f2e968
commit 90e5e8c
Showing 1 changed file with 17 additions and 5 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
@@ -369,17 +369,29 @@ private void PickUpSpecimen(Hardware hardware) {
         sleep(500);
         hardware.arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
         hardware.arm.setPower(0.5);
-        hardware.arm.setTargetPosition(170);
+        hardware.arm.setTargetPosition(90);
         sleep(500);
         hardware.verticalSlide.setTargetPosition(0);
         maintainHeightTicks = 0;
         sleep(500);
-        hardware.wrist.setPosition(1.0);
+        hardware.wrist.setPosition(1);
+        sleep(500);
+        hardware.claw.setPosition(0.02); // TBD
         sleep(500);
         hardware.twist.setPosition(0.17);
         sleep(500);
-        hardware.claw.setPosition(0.02); // TBD
-//        sleep(5000);
-        armTargetPosDeg = 87.58;
+        hardware.arm.setTargetPosition(145);
+        sleep(500);
+        hardware.claw.setPosition(0.55);
+        sleep(500);
+        hardware.wrist.setPosition(0.5);
+        sleep(500);
+        hardware.verticalSlide.setTargetPosition(300);
+        sleep(500);
+        hardware.arm.setTargetPosition(0);
+        sleep(500);
+        hardware.verticalSlide.setTargetPosition(0);
+        sleep(500);
+        armTargetPosDeg = 0;
     }
 }