Changed so it cant do bad things

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java

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

@@ -62,17 +62,16 @@ public class SpecimenAuto extends OpMode {
                 state = 2;
                  break;
              case 2:
-                 lift.toSpecimanHangHeight();
                  new SleepAction(5);
                  state = 3;
                  break;
              case 3:
-                 wrist.toSpecimenHang();
+
                  new SleepAction(5);
                  state = 4;
                  break;
              case 4:
-                 lift.toSpecimanReleaseHeight();
+
                  new SleepAction(5);
                  state = 5;
                  break;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleOpDevelopment.java

@@ -122,7 +122,7 @@ public class CometBotTeleOpDevelopment {
 
     private void armToBucketPosition() {
         if (currentGamepad2.dpad_up && !previousGamepad2.dpad_up) {
-            armParked = true;
+            armParked = false;
             arm.toBucketPosition();
             wrist.toBucketPosition();
             wristPickup = false;
@@ -175,15 +175,15 @@ public class CometBotTeleOpDevelopment {
 
         if (gamepad1.x && claw.getState() == ClawSubsystem.ClawState.CLOSED) {
             //now slap on bar, first wrist, then arm, then claw then driver must drive away
-            dualSlides.toFixedPosition(500);
+            dualSlides.toFixedPosition(200);
             dualSlides.update();
         }
 
         if (gamepad1.y) {
-            arm.hangBlueberrySkyhook();
             wrist.hangBlueberrySkyhook();
+            arm.hangBlueberrySkyhook();
             try {
-                Thread.sleep(500);
+                Thread.sleep(1500);
             } catch (InterruptedException e) {
                 throw new RuntimeException(e);
             }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/DualMotorSliderTest.java

@@ -19,7 +19,7 @@ public class DualMotorSliderTest extends LinearOpMode {
 
     private DcMotorEx liftSlideLeft;
     private DcMotorEx liftSlideRight;
-    public static double kp = 0.0015, ki = 0, kd = 0;
+    public static double kp = 0.002, ki = 0, kd = 0;
     private double lastError = 0;
     private double integralSum = 0;
     public static int targetPosition = 0;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java

@@ -14,7 +14,7 @@ public class RobotConstants {
     public final static double armReverseBucket = 0.08;
     public final static double armPark = 0.33;
     //value for grabbing the hook Specimen
-    public final static double grabBlueberry = 0.69;
+    public final static double grabBlueberry = 0.56;
     public final static double armGrabBlueberrySkyhook = 0.045;
     public final static double wristGrabBlueberrySkyhook = 0.08;
     public final static double armHangBlueberrySkyhook = 0.18;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/DualMotorSliderSubsystem.java

@@ -59,7 +59,7 @@ public class DualMotorSliderSubsystem {
     It's the only value we set because the variable ki and kd deal with how to handle when we're off the path.
     Since we're going straight, we don't need to worry about.
     */
-    public final static double kp = 0.0015, ki = 0, kd = 0;
+    public final static double kp = 0.002, ki = 0, kd = 0;
 
     /*
     lastError/integralSum/timer - These 3 variables are placeholders in determining how much

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HangMotorSubsystem.java

@@ -59,5 +59,12 @@ public class HangMotorSubsystem {
         //write in limits for protection
         hang.setPower(Position);
     }
+    public void setPower(boolean forward, double power){
+        if(forward)
+        hang.setDirection(DcMotorSimple.Direction.FORWARD);
+        else if(!forward)
+            hang.setDirection(DcMotorSimple.Direction.REVERSE);
+        hang.setPower(power);
+    }
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/HookTest.java

@@ -91,6 +91,7 @@ public class HookTest extends OpMode {
         }
 
 
+
     }
 
 }