Merge remote-tracking branch 'origin/branch-swiss-cheese' into branch-swiss-cheese

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

@@ -106,21 +106,23 @@ public class CometBotAutoDevelopment {
         if(arm.getState() == ArmSubsystem.ArmState.GRAB_BLUEBERRY_SKYHOOK)
             claw.init();
     }
-    private void hangSkyhook (){
-        dualSlides.toHangHeight();
-        wrist.hangBlueberrySkyhook();
-        try {
-            Thread.sleep(1000);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
-        arm.hangBlueberrySkyhook();
-        if(arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK){
+    private void hangSkyhook(){
+        if(currentGamepad1.right_bumper && !previousGamepad1.right_bumper){
+            dualSlides.toHangHeight();
+            wrist.hangBlueberrySkyhook();
             try {
                 Thread.sleep(1000);
             } catch (InterruptedException e) {
                 throw new RuntimeException(e);
-            }claw.closeClaw();
+            }
+            arm.hangBlueberrySkyhook();
+            if(arm.getState() == ArmSubsystem.ArmState.HANG_BLUEBERRY_SKYHOOK){
+                try {
+                    Thread.sleep(2000);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }claw.closeClaw();
+            }
         }
 
     }
@@ -137,7 +139,6 @@ public class CometBotAutoDevelopment {
     }
     private void armAndWristToFloor(){
         if(currentGamepad2.a && !previousGamepad2.a){
-
             double increment = 0.7 - arm.getPosition();
             for(int i = 0; i < 3; i ++){
                 arm.setPosition(arm.getPosition() + increment);