From 90e5e8ca55556d185d1efe2cef3dfd40e3645718 Mon Sep 17 00:00:00 2001
From: ryan C <147014849+luenix1@users.noreply.github.com>
Date: Sat, 30 Nov 2024 14:23:27 -0800
Subject: [PATCH 1/3] making life easier for drivers since 2024(pick up and
 store specimejn)

---
 .../ftc/teamcode/MecanumTeleOp.java           | 22 ++++++++++++++-----
 1 file changed, 17 insertions(+), 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
index 1b725980cfc1..277cd688071b 100644
--- 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;
     }
 }

From 9c066e4bf0e8153f678818a319f016456ba8ec8e Mon Sep 17 00:00:00 2001
From: ryan C <147014849+luenix1@users.noreply.github.com>
Date: Sat, 30 Nov 2024 15:04:43 -0800
Subject: [PATCH 2/3] not good

---
 .../ftc/teamcode/MecanumTeleOp.java              | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
index 277cd688071b..ee82d17fc279 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
@@ -107,6 +107,9 @@ public void runOpMode() {
             servoMoves();
             twist();
             lift(hardware);
+            if(gamepad1.x){
+                transfer(hardware);
+            }
             if (gamepad2.y) {
                 ScoreHighBasket(hardware);
             }
@@ -394,4 +397,17 @@ private void PickUpSpecimen(Hardware hardware) {
         sleep(500);
         armTargetPosDeg = 0;
     }
+    private void transfer(Hardware hardware){
+        hardware.arm.setPower(-0.5);
+        hardware.verticalSlide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        hardware.verticalSlide.setPower(VerticalSlideSpeed);
+        hardware.verticalSlide.setTargetPosition(900);
+        maintainHeightTicks = 900;
+        sleep(500);
+        hardware.arm.setTargetPosition(33);
+        sleep(500);
+        hardware.wrist.setPosition(0.9);
+        sleep(500);
+        armTargetPosDeg=33;
+    }
 }

From 183e072dbacde345283d51f349e788e8604c0d64 Mon Sep 17 00:00:00 2001
From: ryan C <147014849+luenix1@users.noreply.github.com>
Date: Sat, 30 Nov 2024 19:20:53 -0800
Subject: [PATCH 3/3] GOOD!!!!!!!!! for now for now

---
 .../ftc/teamcode/MecanumTeleOp.java           | 35 ++++++++++++++++---
 1 file changed, 30 insertions(+), 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
index ee82d17fc279..d82e5c30f5eb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp.java
@@ -398,16 +398,41 @@ private void PickUpSpecimen(Hardware hardware) {
         armTargetPosDeg = 0;
     }
     private void transfer(Hardware hardware){
-        hardware.arm.setPower(-0.5);
+        //hardware.arm.setPower(-0.5);
+        hardware.verticalSlide.setTargetPosition(900);
         hardware.verticalSlide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
         hardware.verticalSlide.setPower(VerticalSlideSpeed);
-        hardware.verticalSlide.setTargetPosition(900);
         maintainHeightTicks = 900;
         sleep(500);
-        hardware.arm.setTargetPosition(33);
+        hardware.arm.setTargetPosition(-63);//This is in ticks
+        hardware.arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        hardware.arm.setPower(0.5);
+        armTargetPosDeg=-30;//(752 ticks /360 degrees)
         sleep(500);
         hardware.wrist.setPosition(0.9);
-        sleep(500);
-        armTargetPosDeg=33;
+        sleep(2000);
+        hardware.claw.setPosition(0.02);
+        sleep(2000);
+        hardware.verticalSlide.setTargetPosition(735);
+        hardware.verticalSlide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        hardware.verticalSlide.setPower(VerticalSlideSpeed);
+        maintainHeightTicks = 735;
+        sleep(2000);
+        hardware.claw.setPosition(0.55);
+        sleep(1000);
+        hardware.wrist.setPosition(0.45);
+        hardware.arm.setTargetPosition(0);
+        hardware.arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        hardware.arm.setPower(0.5);
+        armTargetPosDeg=0;
+        sleep(1000);
+        hardware.verticalSlide.setTargetPosition(0);
+        hardware.verticalSlide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        hardware.verticalSlide.setPower(VerticalSlideSpeed);
+        maintainHeightTicks = 0;
+
+        //To-Do: open horizontal claw
+
+
     }
 }