From 66a831fa595b4041b9cccc198e72ccf7fa673986 Mon Sep 17 00:00:00 2001
From: carlos <carlos@riv.as>
Date: Thu, 7 Nov 2024 16:23:47 -0800
Subject: [PATCH] Added  Hoverstate

---
 .../org/firstinspires/ftc/teamcode/DevTeleop.java   | 13 +++++++++++++
 .../ftc/teamcode/configs/RobotConstants.java        |  3 ++-
 .../ftc/teamcode/subsystem/LiftSubsystem.java       |  8 +++++++-
 3 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
index 3548d41..bee1a42 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
@@ -80,6 +80,8 @@ public class DevTeleop extends OpMode {
             arm.engageArm();
         }
 
+
+
     }
     public void thePickup(ClawSubsystem claw) {
 //claw open close
@@ -124,6 +126,17 @@ public class DevTeleop extends OpMode {
             wrist.floorWrist();
         }
     }
+
+    public void hoverState(ArmSubsystem arm, WristSubsystem wrist, LiftSubsystem lift){
+        if (currentGamepad1.dpad_left && !previousGamepad2.dpad_left){
+            lift.toHover();
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+
+
+    }
+
     @Override
     public void loop() {
         previousGamepad1.copy(currentGamepad1);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
index d56cf6b..ef816c4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java
@@ -5,7 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class RobotConstants {
     public static double clawClose = 1.00;
-    public static double clawOpen = 0.25;
+    public static double clawOpen = 0.05;
 
     public static double armEngage = 0.5;
     public static double armPark = 0.125;
@@ -18,4 +18,5 @@ public class RobotConstants {
     public static int liftToLowBucketPos = 2250;
     public static int liftToHighBucketPos = 3850;
     public static double liftPower = .45;
+    public static int liftToHoverState = 60;
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
index ed54f00..635bac2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java
@@ -5,6 +5,7 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatP
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHoverState;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -18,7 +19,7 @@ public class LiftSubsystem {
     public RunAction toFloor, toLowBucket, toHighBucket;
 
     public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, HOVER
     }
 
     private LiftState liftState;
@@ -47,6 +48,11 @@ public class LiftSubsystem {
         }
     }
 
+     public void toHover() {
+        this.setTarget(liftToHoverState);
+        this.setState(LiftState.HOVER);
+    }
+
     public void toFloor() {
         this.setTarget(liftToFloorPos);
         this.setState(LiftState.FLOOR);