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GreenBlitz · Jun 19, 2024 · b6f8956 · b6f8956
1 parent b97d986
commit b6f8956
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Showing 5 changed files with 8 additions and 8 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Bindings.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Bindings.java
@@ -80,9 +80,9 @@ public static void razElevatorTest(Gamepad gamepad) {
     public static void razWristTest(Gamepad gamepad) {
         mainGamepad = new GamepadWrapper(gamepad);
 
-        mainGamepad.getGamepadButton(GamepadKeys.Button.B).whenPressed(WristCommands.moveToState(WristState.SCORE));
-        mainGamepad.getGamepadButton(GamepadKeys.Button.X).whenPressed(WristCommands.moveToState(WristState.INTAKE));
-        mainGamepad.getGamepadButton(GamepadKeys.Button.X).whenPressed(WristCommands.moveToState(WristState.IDLE));
+        mainGamepad.getGamepadButton(GamepadKeys.Button.DPAD_DOWN).whenPressed(WristCommands.moveToState(WristState.SCORE));
+        mainGamepad.getGamepadButton(GamepadKeys.Button.DPAD_UP).whenPressed(WristCommands.moveToState(WristState.INTAKE));
+        mainGamepad.getGamepadButton(GamepadKeys.Button.DPAD_RIGHT).whenPressed(WristCommands.moveToState(WristState.IDLE));
     }
 
     public static void razChassisTest(Gamepad gamepad) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java
@@ -35,7 +35,7 @@ public static Robot getInstance() {
     private Wrist wrist;
 
     private void initSubsystems(HardwareMap hardwareMap) {
-        if (currentState == null) {
+//        if (currentState == null) {
             this.currentState = RobotState.DRIVE;
 
             this.arm = new Arm(hardwareMap);
@@ -44,7 +44,7 @@ private void initSubsystems(HardwareMap hardwareMap) {
             this.elevator = new Elevator(hardwareMap);
             this.launcher = new Launcher(hardwareMap);
             this.wrist = new Wrist(hardwareMap);
-        }
+//        }
     }
 
     public SequentialCommandGroup setState(RobotState robotState) {

diff --git a/...c/main/java/org/firstinspires/ftc/teamcode/opmodes/subsystemstesters/RazElevatorTest.java b/...c/main/java/org/firstinspires/ftc/teamcode/opmodes/subsystemstesters/RazElevatorTest.java
@@ -21,7 +21,7 @@ public void execute() {
 
     @Override
     public void configureBindings() {
-        Bindings.razElevatorTest(gamepad1);
+        Bindings.razElevatorTest(gamepad2);
     }
 
 }
diff --git a/.../src/main/java/org/firstinspires/ftc/teamcode/opmodes/subsystemstesters/RazWristTest.java b/.../src/main/java/org/firstinspires/ftc/teamcode/opmodes/subsystemstesters/RazWristTest.java
@@ -21,7 +21,7 @@ public void execute() {
 
     @Override
     public void configureBindings() {
-        Bindings.razWristTest(gamepad1);
+        Bindings.razWristTest(gamepad2);
     }
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/wrist/WristConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/wrist/WristConstants.java
@@ -5,6 +5,6 @@ class WristConstants {
     protected static String SERVO_HARDWARE_ID = "wrist_gripper";
     protected static double SCORE_POSITION = 1;
     protected static double IDLE_POSITION = 1;
-    protected static double INTAKE_POSITION = 0.39;
+    protected static double INTAKE_POSITION = 0.3;
 
 }