Commit Hang Subsystem

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HangMotorSubsystem.java

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

@@ -55,6 +55,7 @@ public class PedroConstants {
     public static final String WRIST_SERVO = "wrist-servo";
     public static final String ARM_SERVO = "arm-servo";
     public static final String THUMB_SERVO = "thumb-servo";
+    public static final String HOOK = "skyhook";
 
     /*
         Pedro's parameters

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

@@ -153,6 +153,16 @@ public class CometBotAutoDevelopment {
             dualSlides.toHighBucketPosition();
         }
     }
+    private void robotUp(){
+        if(currentGamepad1.dpad_up && !previousGamepad1.dpad_up){
+
+        }
+    }
+    private void robotDown(){
+        if(currentGamepad1.dpad_down && !previousGamepad1.dpad_down){
+
+        }
+    }
     private void dualSlidesToFloorPosition() {
         if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
             dualSlides.toFloorPosition();

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.HOOK;
 import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_LEFT_MOTOR;
 import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_RIGHT_MOTOR;
 
@@ -11,41 +12,49 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toBar;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.toFloor;
 
 public class HangMotorSubsystem {
-    private DcMotorEx Hang;
+    private DcMotorEx hang;
 
     public HangMotorSubsystem(HardwareMap hardwareMap) {
 
-        Hang = hardwareMap.get(DcMotorEx.class, "skyhook");
+        hang = hardwareMap.get(DcMotorEx.class, HOOK);
 
 
     }
 
     public int getCurrentPosition(){
-        int Return = Hang.getCurrentPosition();
+        int Return = hang.getCurrentPosition();
         return Return;
     }
     public void init(){
-        Hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        hang.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        Hang.setDirection(DcMotorSimple.Direction.FORWARD);
+        hang.setDirection(DcMotorSimple.Direction.FORWARD);
-        Hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        hang.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        Hang.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        hang.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
     }
     public void hangRobot(){
-        Hang.setTargetPosition(toBar);
+        hang.setTargetPosition(toBar);
 
     }
     public void robotToFloor(){
-        Hang.setTargetPosition(toFloor);
+        hang.setTargetPosition(toFloor);
     }
     public void disableMotor(){
-        Hang.setPower(0);
+        hang.setPower(0);
-        Hang.setMotorDisable();
+        hang.setMotorDisable();
+
+    }
+    public void setPower(double power){
+        hang.setPower(power);
+    }
+    public void stopMotor(){
+        hang.setPower(0);
+
 
     }
     public void toHangPosition(int Position){
         //write in limits for protection
-        Hang.setPower(Position);
+        hang.setPower(Position);
     }
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftArmWrist.java

@@ -58,6 +58,7 @@ public class LiftArmWrist extends LinearOpMode {
         WristSubsystem wrist = new WristSubsystem(hardwareMap);
         ArmSubsystem arm = new ArmSubsystem(hardwareMap);
         ClawSubsystem claw = new ClawSubsystem(hardwareMap);
+        HangMotorSubsystem hang = new HangMotorSubsystem(hardwareMap);
 
 
         /*
@@ -117,15 +118,23 @@ public class LiftArmWrist extends LinearOpMode {
                 lift.toLowBucketPosition();
 
             }
+            if(currentGamepad1.left_trigger > 0){
+                hang.setPower((double) currentGamepad1.left_trigger);
+            }
+            if(currentGamepad1.right_trigger > 0){
+                hang.setPower((double) currentGamepad1.right_trigger);
+            }
 
             lift.update();
 
             // Show the elapsed game time and wheel power.
+
             telemetry.addData("Status", "Run Time: " + runtime.toString());
             telemetry.addData("Lift Drive Position", lift.getFixedPosition());
             telemetry.addData("Wrist Position", wrist.getPosition());
             telemetry.addData("Arm Position", arm.getPosition());
             telemetry.addData("Slide Ticks", lift.getCurrentPosition());
+            telemetry.addData("Hook Ticks", hang.getCurrentPosition());
             telemetry.update();
         }
     }