From 10e6bed4ca61768e733a02132570c37fd40277c6 Mon Sep 17 00:00:00 2001
From: Carlos Rivas <carlos@riv.as>
Date: Mon, 11 Nov 2024 19:28:16 -0800
Subject: [PATCH] Motors on GP1, Arm on GP2

---
 .../teamcode/runmodes/CometBotTeleopCompetition.java | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
index 76d8279..6e37ad8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
@@ -82,9 +82,9 @@ public class CometBotTeleopCompetition {
         this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
         this.clawControl();
 
-//        this.motors.calculateTrajectory(this.GP1);
         follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
         follower.update();
+
         this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
         this.telemetry.addData("Claw State", this.claw.getState());
         this.telemetry.addData("Claw Position", this.claw.getPosition());
@@ -100,7 +100,7 @@ public class CometBotTeleopCompetition {
     Action: On button press, Arm hovers the floor with wrist parallel to arm
      */
     public void toHighBucketScore() {
-        if (this.currentGP1.triangle && !this.previousGP1.triangle) {
+        if (this.currentGP2.triangle && !this.previousGP2.triangle) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
                     this.wrist.toFloorPosition(),
@@ -123,7 +123,7 @@ public class CometBotTeleopCompetition {
     }
 
     public void toLowBucketScore() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
+        if (this.currentGP2.circle && !this.previousGP2.circle) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
                     this.wrist.toFloorPosition(),
@@ -146,19 +146,19 @@ public class CometBotTeleopCompetition {
     }
 
     public void clawControl() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
+        if (this.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
             this.claw.switchState();
         }
     }
 
     public void toArmParkPosition() {
-        if (this.currentGP1.square && !this.previousGP1.square) {
+        if (this.currentGP2.square && !this.previousGP2.square) {
             Actions.runBlocking(this.arm.toParkPosition());
         }
     }
 
     public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
-        if (this.currentGP1.cross && !previousGP1.cross) {
+        if (this.currentGP2.cross && !previousGP2.cross) {
             if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
                 Actions.runBlocking(
                         new SequentialAction(