danna - added bindings

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Bindings.java

@@ -1,10 +1,23 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.firstinspires.ftc.teamcode.subsystems.wrist.WristCommands;
+import org.firstinspires.ftc.teamcode.subsystems.wrist.WristState;
 
 public class Bindings {
 
     private static GamepadEx MAIN_GAMEPAD;
     private static GamepadEx SECOND_GAMEPAD;
 
+    public static void wristBindings(Gamepad gamepad1, Gamepad gamepad2){
+        MAIN_GAMEPAD = new GamepadEx(gamepad1);
+        SECOND_GAMEPAD = new GamepadEx(gamepad2);
+
+        MAIN_GAMEPAD.getGamepadButton(GamepadKeys.Button.B).whenPressed(WristCommands.moveToStateCommand(WristState.SCORE));
+        MAIN_GAMEPAD.getGamepadButton(GamepadKeys.Button.X).whenPressed(WristCommands.moveToStateCommand(WristState.INTAKE));
+    }
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/testers/WristTest.java

@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.opmodes.testers;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.Bindings;
+import org.firstinspires.ftc.teamcode.opmodes.DefaultRaz;
+
+@TeleOp(name = "Wrist Test")
+public class WristTest extends DefaultRaz {
+    @Override
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+
+    }
+
+    @Override
+    public void configureBindings() {
+        Bindings.wristBindings(gamepad1, gamepad2);
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/wrist/Wrist.java

@@ -15,11 +15,11 @@ public Wrist(HardwareMap hardwareMap){
 
     public void setState(WristState state){
         currentState = state;
-        wristServo.setPosition(currentState.positionZeroToOne);
+        wristServo.setPosition(currentState.targetPosition);
     }
 
     public boolean isAtTargetState(WristState targetState){
-        return Math.abs(targetState.positionZeroToOne - wristServo.getPosition()) < WristConstants.POSITION_TOLERANCE;
+        return Math.abs(targetState.targetPosition - wristServo.getPosition()) < WristConstants.POSITION_TOLERANCE;
     }
 
     public void stop(){

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/wrist/WristState.java

@@ -5,9 +5,9 @@ public enum WristState {
     INTAKE(WristConstants.INTAKE_POSITION),
     SCORE(WristConstants.SCORE_POSITION);
 
-    public final double positionZeroToOne;
-    WristState(double positionZeroToOne){
-        this.positionZeroToOne = positionZeroToOne;
+    public final double targetPosition;
+    WristState(double targetPosition){
+        this.targetPosition = targetPosition;
     }
 
 }