From 933d33bf433fdc4d14c29a9cc4429682a841026c Mon Sep 17 00:00:00 2001
From: robotics3 <Chris@scds.org>
Date: Thu, 6 Feb 2025 16:51:35 -0800
Subject: [PATCH] Autoclaw added

---
 .../ftc/teamcode/cometbots/paths/CometBotDriveV2.java    | 8 +++-----
 .../ftc/teamcode/configs/RobotConstants.java             | 2 +-
 .../ftc/teamcode/subsystems/ClawSubsystem.java           | 9 ++++++++-
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
index b64b577..1e2cb6d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
@@ -192,7 +192,7 @@ public class CometBotDriveV2 extends OpMode {
                 wrist.toReverseBucket();
             }
             if(runtime.seconds() > 12.75) {
-                claw.openClaw();
+                claw.autoOpenClaw();
                 state = 6;
             }
         }
@@ -205,7 +205,7 @@ public class CometBotDriveV2 extends OpMode {
                 wrist.toReverseBucket();
             }
             if(runtime.seconds() > 23.00) {
-                claw.openClaw();
+                claw.autoOpenClaw();
                 state = 10;
             }
         }
@@ -217,7 +217,7 @@ public class CometBotDriveV2 extends OpMode {
             wrist.toReverseBucket();
         }
         if (runtime.seconds() > 3.5) {
-            claw.openClaw();
+            claw.autoOpenClaw();
         }
         if (runtime.seconds() > 4) {
             wrist.toTravelPosition();
@@ -247,9 +247,7 @@ public class CometBotDriveV2 extends OpMode {
         }
     }
 
-    private void moveToPickupAgainPath5() {
 
-    }
 
     private void moveToParkPath6() {
         if (runtime.seconds() > 24.5) {
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 7febb68..13eb67a 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
@@ -6,7 +6,7 @@ import com.acmerobotics.dashboard.config.Config;
 public class RobotConstants {
     public final static double clawClose = 0.95;
     public final static double clawOpen = 0.35;
-
+    public final static int autoClawOpen = 0;
 
 
     public final static double armFloor = 0.7;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/ClawSubsystem.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/ClawSubsystem.java
index 54aba24..8a985c2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/ClawSubsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/ClawSubsystem.java
@@ -4,6 +4,7 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.CLAW_NAME;
 import static org.firstinspires.ftc.teamcode.PedroConstants.THUMB_SERVO;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.autoClawOpen;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.grabBlueberry;
 
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -12,7 +13,7 @@ import com.qualcomm.robotcore.hardware.Servo;
 public class ClawSubsystem {
 
     public enum ClawState {
-        CLOSED, OPEN, GRAB_BLUEBERRY
+        CLOSED, OPEN, GRAB_BLUEBERRY, AUTO_OPEN
     }
 
     public enum ThumbState {
@@ -32,6 +33,7 @@ public class ClawSubsystem {
         claw.setPosition(grabBlueberry);
         state = ClawState.GRAB_BLUEBERRY;
     }
+
     public void closeClaw() {
         claw.setPosition(clawClose);
 
@@ -43,6 +45,11 @@ public class ClawSubsystem {
 
         state = ClawState.OPEN;
     }
+    public void autoOpenClaw() {
+        claw.setPosition(autoClawOpen);
+
+        state = ClawState.AUTO_OPEN;
+    }
 
     public ClawState getState() {
         return state;