From 85060159d898f7d30931f56f24f688bd221f84bc Mon Sep 17 00:00:00 2001
From: carlos <carlos@riv.as>
Date: Sun, 29 Dec 2024 11:06:15 -0800
Subject: [PATCH] Fixed floor position issue

---
 .../ftc/teamcode/configs/RobotConstants.java         |  7 +++----
 .../ftc/teamcode/subsystem/LiftActionsSubsystem.java | 12 ++++--------
 2 files changed, 7 insertions(+), 12 deletions(-)

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 0fa2afc..3936e3a 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
@@ -4,8 +4,8 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class RobotConstants {
-    public final static double clawOpen = 0.5;
-    public final static double clawClose = 0.05;
+    public final static double clawClose = 0.8;
+    public final static double clawOpen = 0.05;
 
     public final static double armFloor = 0.7;
     public final static double armSubmarine = 0.55;
@@ -20,8 +20,7 @@ public class RobotConstants {
     public final static double wristSpeciemen = 0.1;
 
 
-    public final static int liftToFloorPos = 350;
-    public final static int liftToSubmarinePos = 350;
+    public final static int liftToFloorPos = 550;
     public final static int liftToLowBucketPos = 2650;
     public final static int liftToHighRung = 2100;
     public final static int dropToHighRung = 1675;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
index bbbde1d..b203f0b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java
@@ -6,12 +6,8 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
 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.liftToSubmarinePos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRung;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRungAttach;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.dropToHighRung;
-
-
 
 
 import androidx.annotation.NonNull;
@@ -60,7 +56,7 @@ public class LiftActionsSubsystem {
     }
 
     public Action toFloorPosition() {
-        return new MoveToPosition(liftToSubmarinePos, LiftState.FLOOR);
+        return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
     }
 
     public Action toHighRung() {
@@ -72,15 +68,15 @@ public class LiftActionsSubsystem {
     }
 
 
-   public Action toZeroPosition() {
+    public Action toZeroPosition() {
         return new MoveToPosition(0, LiftState.FLOOR);
-   }
-
+    }
 
 
     public Action toHighRungAttach() {
         return new MoveToPosition(liftToHighRungAttach, LiftState.HIGH_RUNG);
     }
+
     public Action toLowBucketPosition() {
         return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);