2.0

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSide.java

@@ -110,6 +110,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
         telemetry.addData("found: ", sensorRange.getDistance(DistanceUnit.INCH));
         telemetry.update();
         int scanTimes = 0;
@@ -135,9 +136,9 @@ public void runStart() {
         telemetry.update();
 
         closeClaw(); // close
-        sleep(500);
+        sleep(700);
         // lift arm above ground, holding 1 pixel
-        rotateArm(400, 1);
+        rotateArm(100, 1);
         sleep(1000);
 
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueBoardSideGuess.java

@@ -92,6 +92,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
         // guess that team prop is in middle
         closeClaw();
         sleep(2000);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/BlueFarSideGuess.java

@@ -100,6 +100,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
 
         // guess that team prop is in middle
         strafeRightAuto(3,3,500); // away from rigging

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedBoardSideGuess.java

@@ -92,6 +92,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
         // guess that team prop is in middle
         closeClaw();
         sleep(2000);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSide.java

@@ -103,6 +103,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
 
         telemetry.addData("found: ", sensorRange.getDistance(DistanceUnit.INCH));
         telemetry.update();
@@ -129,9 +130,9 @@ public void runStart() {
         telemetry.update();
 
         closeClaw(); // close
-        sleep(500);
+        sleep(700);
         // lift arm above ground, holding 1 pixel
-        rotateArm(400, 1);
+        rotateArm(100, 1);
         sleep(1000);
 
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/autonomous/RedFarSideGuess.java

@@ -100,6 +100,7 @@ else if (hasBeenPressed) {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
 
         // guess that team prop is in middle
         strafeLeftAuto(3,2,500); // away from rigging

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/teleop/FieldCentric.java

@@ -5,6 +5,7 @@
 import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.visionPortal;
 import static org.firstinspires.ftc.teamcode.operations.inputs.Target_inputs.cameraConnected;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.definingDriveMovements.EachMotorSet.driveStop;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.servos.claw.clawMovements.openClaw;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DistanceSensor;
@@ -41,6 +42,7 @@ public void runInitLoop() {
 
     @Override
     public void runStart() {
+        openClaw(0.5);
         //claw.setPosition(claw.getPosition()+2000);
 
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/gamecode/teleop/RobotCentric.java

@@ -11,6 +11,7 @@
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.fl;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.fr;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.definingDriveMovements.EachMotorSet.driveStop;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.servos.claw.clawMovements.openClaw;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -53,6 +54,7 @@ public void runStart() {
         br.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shaft.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        openClaw(0.5);
 
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/inOut/driverControlled/FieldCentric.java

@@ -18,13 +18,15 @@
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.mapMotors;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.botHeading;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.dpadMovements;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.extraSpeed;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.fieldCentricMath;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.backLeftPower;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.backRightPower;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.frontLeftPower;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.frontRightPower;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.definingDriveMovements.EachMotorSet.drive;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.servos.claw.Target_claw.claw;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.servos.claw.clawMovements.openClaw;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -64,7 +66,7 @@ public static void runLoopFieldCentric(Telemetry telemetry, Gamepad gamepad1, Ga
         telemetry.addData("Distance in Inches: ",sensorRange.getDistance(DistanceUnit.INCH));
 
         dpadMovements(gamepad1, speed); // sets waypoints to the d_pads's positions
-
+        extraSpeed(gamepad1);
 
         imuReset(gamepad1.options); // resets imu case of accidents or incidences
         fieldCentricMath(); // does the required math for Mecanum drive as well as getting imu for field centric
@@ -87,7 +89,7 @@ public static void runLoopFieldCentric(Telemetry telemetry, Gamepad gamepad1, Ga
         //clawUseWithGamepad(gamepad2); // using the claw (open/close)
         //armUseWithGamepad(gamepad2); // using the arm (rotation)
         //shaftUseWithGamepad(gamepad2); // using the shaft/lift (up/down)
-        drive(frontLeftPower,frontRightPower,backLeftPower,backRightPower);
+        drive(extraSpeed+frontLeftPower,extraSpeed+frontRightPower,extraSpeed+backLeftPower,extraSpeed+backRightPower);
         // sets each motor to the encoder counts given by the waypoints method
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/inOut/driverControlled/RobotCentric.java

@@ -19,6 +19,7 @@
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.ConfigureMotors.mapMotors;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.botHeading;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.dpadMovements;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.extraSpeed;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Mecanum.robotCentricMath;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.backLeftPower;
 import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.Target_drive.backRightPower;
@@ -70,7 +71,9 @@ public static void runLoopRobotCentric(Telemetry telemetry, Gamepad gamepad1, Ga
         telemetry.addData("claw: ",claw.getPosition());
         telemetry.addData("Distance in Inches: ",sensorRange.getDistance(DistanceUnit.INCH));
         telemetry.addData("touch sensor", button.isPressed());
+
         dpadMovements(gamepad1, speed); // sets waypoints to the d_pads's positions
+        extraSpeed(gamepad1);
 
 
         imuReset(gamepad1.options); // resets imu case of accidents or incidences

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/drive/Mecanum.java

@@ -9,6 +9,7 @@
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 
 public class Mecanum {
+    public static double extraSpeed;
 
     public static double botHeading;
     static double rotX;
@@ -51,6 +52,9 @@ public static void waypoints(double Y, double X, double RX) {
         rx = RX;
     }
 
+    public static void extraSpeed(Gamepad gamepad1) {
+        extraSpeed = gamepad1.right_trigger;
+    }
     public static void dpadMovements(Gamepad gamepad1, double speed) {
         // Mecanum using the dpad, if drivers want it, its there.
         // how this works is it sets the x and y values depending on what button is pressed.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/operations/outputs/motors/servos/claw/clawMovements.java

@@ -5,7 +5,7 @@
 public class clawMovements {
 
     public static void openClaw() {
-        claw.setPosition(1); // 0.5
+        claw.setPosition(0.9); // 0.5
     }
 
     public static void openClaw(double value) {