Getting parking to work again as path 6b. Original path during competition was not working properly.

# 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

@@ -43,6 +43,7 @@ public class SpecimenAuto extends OpMode {
          wrist.InitAuto();
          arm.initAuto();
 
+
         follower.setMaxPower(.45);
 
 
@@ -50,43 +51,49 @@ public class SpecimenAuto extends OpMode {
 
     @Override
     public void loop() {
+        if(runtime != null){
+            telemetry.addData("Runtime (seconds)", runtime.seconds());
+        }
         telemetry.addData("state", state);
          switch(state) {
              case 0:
+                 runtime.reset();
                  wrist.toSpecimenPrep();
                  arm.toSpecimenPrep();
-                 state = 1;
+                 if(runtime.seconds() > 0.25){state = 1;}
-                 new SleepAction(5);
                  break;
              case 1:
-                state = 2;
+                 //line 1
+                 if(runtime.seconds() > 3){state = 2;}
                  break;
              case 2:
                  lift.toSpecimanHangHeight();
-                 new SleepAction(5);
+                 if(runtime.seconds() > 3.75){state = 3;}
-                 state = 3;
                  break;
              case 3:
-                 wrist.toSpecimenHang();
+                wrist.toSpecimenHang();
-                 new SleepAction(5);
+                 if(runtime.seconds() > 4){state = 4;}
-                 state = 4;
                  break;
              case 4:
-                 lift.toSpecimanReleaseHeight();
+                lift.toSpecimanReleaseHeight();
-                 new SleepAction(5);
+                 if(runtime.seconds() > 4.5){state = 5;}
-                 state = 5;
                  break;
              case 5:
-                 //specimen drop
+                 claw.switchState();
+                 if(runtime.seconds() > 4.65){state = 6;}
                  break;
              case 6:
-                 //path 4
+                 lift.toFloorPosition();
+                 if(runtime.seconds() > 4.75){state = 7;}
                  break;
              case 7:
-                 //specimen pick up
+                 arm.toParkPosition();
+                 wrist.toTravelPosition();
+                 //line 2
+                 if(runtime.seconds() > 0.){state = 8;}
                  break;
              case 8:
-                 //path 5
+                 if(runtime.seconds() > 0.25){state = 9;}
                  break;
              case 9:
                  //specimen drop

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

@@ -13,7 +13,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
-@Autonomous(name = "Specimen Test", group = "Competition")
+@Autonomous(name = "Specimen Line Test", group = "Competition")
 public class SpecimenAutoLineTest extends OpMode {
     private Telemetry telemetryA;
 
@@ -40,15 +40,15 @@ public class SpecimenAutoLineTest extends OpMode {
                                 new Point(39.500, 60.000, Point.CARTESIAN)
                         )
                 )
-               .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(0))
-/*                .addPath(
+                .addPath(
                         // Line 2
                         new BezierLine(
                                 new Point(39.500, 60.000, Point.CARTESIAN),
                                 new Point(37.000, 60.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 3
                         new BezierCurve(
@@ -58,7 +58,7 @@ public class SpecimenAutoLineTest extends OpMode {
                                 new Point(58.000, 23.500, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 4
                         new BezierLine(
@@ -66,7 +66,7 @@ public class SpecimenAutoLineTest extends OpMode {
                                 new Point(14.000, 23.500, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(180))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
                         new BezierLine(
@@ -155,7 +155,7 @@ public class SpecimenAutoLineTest extends OpMode {
                                 new Point(37.000, 68.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(180))*/.build();
+                .setConstantHeadingInterpolation(Math.toRadians(180)).build();
         follower.followPath(path);
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());

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;
@@ -175,20 +175,20 @@ 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);
             }
             goClaw = true;
-            dualSlides.toFixedPosition(2200);
+            dualSlides.toFixedPosition(2100);
             dualSlides.update();
         }
         if (gamepad1.right_bumper) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java

@@ -15,7 +15,7 @@ import org.firstinspires.ftc.teamcode.subsystems.ClawSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.DualMotorSliderSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.WristSubsystem;
 
-@Autonomous(name = "Auto Test Competition V2", group = "Dev")
+@Autonomous(name = "Auto Competition V2", group = "A")
 public class CometBotDriveV2 extends OpMode {
     private Follower follower;
     private int state;
@@ -118,7 +118,7 @@ public class CometBotDriveV2 extends OpMode {
                 moveToPark();
                 break;
             case 99:
-                wrist.toTravelPosition();
+                wrist.toFloorPosition();
                 break;
             default:
                 telemetry.addLine("default");
@@ -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) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CopyofCometBotDriveV2.java

@@ -0,0 +1,333 @@
+package org.firstinspires.ftc.teamcode.cometbots.paths;
+
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.subsystems.ArmSubsystem;
+import org.firstinspires.ftc.teamcode.subsystems.ClawSubsystem;
+import org.firstinspires.ftc.teamcode.subsystems.DualMotorSliderSubsystem;
+import org.firstinspires.ftc.teamcode.subsystems.WristSubsystem;
+
+@Autonomous(name = "Copy of Auto Competition V2", group = "A")
+public class CopyofCometBotDriveV2 extends OpMode {
+    private Follower follower;
+    private int state;
+
+    private HighBasketPath1 path1;
+    private HighBasketPath2 path2;
+    private HighBasketPath3 path3;
+    private HighBasketPath4 path4;
+    private HighBasketPath5 path5;
+    //private HighBasketPath6 path6;
+    private HighBasketPath6b path6;
+
+
+    //private CometBotTeleopCompetition comp;
+    private static ElapsedTime runtime;
+    private static boolean initalized = false;
+    private static boolean followingPath = false;
+    private DualMotorSliderSubsystem lift;
+    private ClawSubsystem claw;
+    private WristSubsystem wrist;
+    private ArmSubsystem arm;
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+        follower.setMaxPower(.75);
+
+        path1 = new HighBasketPath1();
+        path2 = new HighBasketPath2();
+        path3 = new HighBasketPath3();
+        path4 = new HighBasketPath4();
+        path5 = new HighBasketPath5();
+        path6 = new HighBasketPath6b();
+        //path6 = new HighBasketPath6();
+        lift = new DualMotorSliderSubsystem(hardwareMap);
+        arm = new ArmSubsystem(hardwareMap);
+        wrist = new WristSubsystem(hardwareMap);
+        claw = new ClawSubsystem(hardwareMap);
+
+
+        lift.init();
+        arm.initAuto();
+        wrist.InitAuto();
+        claw.init();
+
+        //comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
+        // comp.initCloseClaw();
+        runtime = new ElapsedTime();
+    }
+
+
+    public void loop() {
+        telemetry.addData("state", state);
+//        telemetry.addData("arm", arm);
+//        telemetry.addData("lift", lift);
+//        telemetry.addData("wrist", wrist);
+//        telemetry.addData("claw", claw);
+        telemetry.addData("followingPath", followingPath);
+        telemetry.addData("busy", follower.isBusy());
+
+        if (runtime != null) {
+            telemetry.addData("Runtime (seconds)", runtime.seconds());
+        }
+        switch (state) {
+            case 0:
+
+                runtime.reset();
+                moveToPathOneAndHighBucket();
+                break;
+            case 1:
+                doArmThing();
+                state = 2;
+                break;
+            case 2:
+                moveToPathTwoAndPickSampleUp();
+                break;
+            case 3:
+                doPickUpThing();
+                break;
+            case 4:
+                moveToBasketPath3();
+                break;
+            case 5:
+                theArmThing();
+                break;
+            case 6:
+                moveToPickupAgainPath4();
+                break;
+            case 7:
+                doPickUpThingAgain();
+                break;
+            case 8:
+                moveToBasketPath5();
+                break;
+            case 9:
+                theArmThingAgain();
+                break;
+            case 10:
+                moveToParkPath6();
+                break;
+            case 11:
+                moveToPark();
+                break;
+            case 99:
+                wrist.toFloorPosition();
+                break;
+            default:
+                telemetry.addLine("default");
+
+        }
+        telemetry.update();
+        lift.update();
+        follower.update();
+
+
+    }
+
+    public void moveToPark() {
+        if (runtime.seconds() > 26) {
+            path6.moveToBasketPath6(follower);
+            state = 99;
+        }
+    }
+
+    private void moveToPathOneAndHighBucket() {
+        path1.moveToPath1(follower);
+        state = 1;
+    }
+    private void moveToBasketPath5() {
+        if(runtime.seconds() > 19){
+            path5.moveToBasketPath5(follower);
+            lift.toHighBucketReverseDrop();
+            wrist.toTravelPosition();
+            state = 9;
+        }
+
+    }
+
+
+    public class SetStateAction implements Action {
+
+        private int value;
+
+        public SetStateAction(int value) {
+            this.value = value;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            state = value;
+            return false;
+        }
+    }
+
+    private Action setStateValue(int value) {
+        return new SetStateAction(value);
+    }
+
+    private void doArmThing() {
+
+        claw.thumbOutOfTheWay();
+        wrist.toTravelPosition();
+        lift.toHighBucketReverseDrop();
+        //arm.toReverseBucket();
+        //wrist.toReverseBucket();
+        //claw.openClaw();
+        //wrist.toFloorPosition();
+
+    }
+
+
+    private void theArmThing() {
+        if(lift.getFixedPosition() >= 4280){
+            arm.toReverseBucket();
+            if(runtime.seconds() > 12) {
+                wrist.toReverseBucket();
+            }
+            if(runtime.seconds() > 12.75) {
+                claw.autoOpenClaw();
+                state = 6;
+            }
+        }
+    }
+
+    private void theArmThingAgain() {
+        if(lift.getFixedPosition() >= 4280){
+            arm.toReverseBucket();
+            if(runtime.seconds() > 22) {
+                wrist.toReverseBucket();
+            }
+            if(runtime.seconds() > 23.00) {
+                claw.autoOpenClaw();
+                state = 10;
+            }
+        }
+    }
+
+
+    private void moveToPathTwoAndPickSampleUp() {
+        if (runtime.seconds() > 3.25 && runtime.seconds() < 4) {
+            wrist.toReverseBucket();
+        }
+        if (runtime.seconds() > 3.5) {
+            claw.autoOpenClaw();
+        }
+        if (runtime.seconds() > 4) {
+            wrist.toTravelPosition();
+            lift.toFloorPosition();
+            path2.moveToPath2(follower);
+            state = 3;
+        }
+    }
+
+    //
+    private void moveToBasketPath3() {
+        if (runtime.seconds() > 7.25) {
+            lift.toHighBucketReverseDrop();
+            path3.moveToBasketPath3(follower);
+            state = 5;
+        }
+    }
+
+    private void moveToPickupAgainPath4() {
+        if (runtime.seconds() > 13) {
+            wrist.toTravelPosition();
+        }
+        if (runtime.seconds() > 14) {
+            lift.toFloorPosition();
+            path4.moveToPickupPath4(follower);
+            state = 7;
+        }
+    }
+
+
+
+    private void moveToParkPath6() {
+        if (runtime.seconds() > 24.5) {
+            arm.toBucketPosition();
+            wrist.toTravelPosition();
+        }
+        if (runtime.seconds() > 25.) {
+            lift.toFloorPosition();
+            claw.closeClaw();
+            state = 11;
+        }
+    }
+//
+//    private void moveToBasketPath3() {
+//        if (!followingPath) {
+//            path3.moveToBasketPath3(follower);
+//            followingPath = true;
+//        }
+//        if (runtime != null) {
+//            telemetry.addData("Runtime (seconds)", runtime.seconds());
+//            if (follower.atParametricEnd() || runtime.seconds() > 10.0) {
+//                state = 5;
+//                followingPath = false;
+//            }
+//        }
+//    }
+//
+//    private void thePickUpAuto() {
+//        Actions.runBlocking(new SequentialAction(
+//                new SleepAction(.1),
+//                comp.claw.openClaw(),
+//                new SleepAction(.2),
+//                comp.wrist.toPickupPosition(),
+//                new SleepAction(.2),
+//                comp.arm.toSubmarinePosition(),
+//                new SleepAction(.5),
+//                comp.claw.closeClaw(),
+//                new SleepAction(.3),
+//                comp.wrist.toFloorPosition(),
+//                new SleepAction(.2),
+//                comp.arm.toParkPosition(),
+//                new SleepAction(.2)
+//        ));
+//    }
+//    private void thePickUp() {
+//        Actions.runBlocking(new SequentialAction(
+//                new SleepAction(.5),
+//                comp.wrist.toPickupPosition(),
+//                new SleepAction(.5),
+//                comp.arm.toSubmarinePosition(),
+//                new SleepAction(.7),
+//                comp.claw.closeClaw(),
+//                new SleepAction(.7),
+//                comp.wrist.toFloorPosition(),
+//                new SleepAction(.5),
+//                comp.arm.toParkPosition(),
+//                new SleepAction(.5)
+//        ));
+//    }
+//
+    private void doPickUpThing() {
+        wrist.toPickupPosition();
+        arm.toFloorPosition();
+        if (runtime.seconds() > 7){
+            claw.closeClaw();
+            state = 4;
+        }
+    }
+
+    private void doPickUpThingAgain() {
+       wrist.toPickupPosition();
+       arm.toFloorPosition();
+        if (runtime.seconds() > 18){
+            claw.closeClaw();
+            state = 8;
+        }
+    }
+
+
+}
+

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6b.java

@@ -0,0 +1,44 @@
+package org.firstinspires.ftc.teamcode.cometbots.paths;
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+/*
+    AutoLine# - This file does something of a path......
+
+ */
+public class HighBasketPath6b {
+
+
+    public void moveToBasketPath6(Follower robot) {
+        PathChain pathChain;
+        PathBuilder builder = new PathBuilder();
+        builder
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(27.000, 128.000, Point.CARTESIAN),
+                                new Point(92.448, 125.671, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(315), Math.toRadians(270))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(92.448, 125.671, Point.CARTESIAN),
+                                new Point(93.000, 94.000, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation();
+        pathChain = builder.build();
+        robot.followPath(pathChain);
+    }
+
+}
+

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

@@ -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;
@@ -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/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;

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

@@ -22,10 +22,10 @@ public class HangMotorSubsystem {
     }
     public void init(){
         //init hook, set runmodes
-        hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        //hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         hang.setDirection(DcMotorSimple.Direction.FORWARD);
         hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        hang.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        hang.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
     }
     public void hangRobot(){
@@ -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 {
         }
 
 
+
     }
 
 }