From 7d28e8bd60539d756e827570a71207cfc051fb9e Mon Sep 17 00:00:00 2001
From: robotics2 <robotics2@scds.org>
Date: Thu, 18 Jan 2024 17:21:45 -0800
Subject: [PATCH] meet 3 code

---
 .../ftc/teamcode/BlueBackStage.java           | 26 ++++++++++++++-----
 .../ftc/teamcode/RedBackStage.java            |  6 ++---
 2 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
index 4670d07..49e1078 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
@@ -232,6 +232,7 @@ public class BlueBackStage extends LinearOpMode {
         gripper.setPosition(1);
         sleep(3000);
     }
+
     public void executeAuto()
    {
         arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -255,9 +256,14 @@ public class BlueBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.3);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(6);
+            raisearm(-50);
+            wrist.setPosition(1);
+            raisearm(-70);
+            straightLeft(29);
+            driveForward(-10);
             terminateOpModeNow();
 
 
@@ -269,17 +275,21 @@ public class BlueBackStage extends LinearOpMode {
                 telemetry.addData("position","right");
             telemetry.update();
             turnRight(88);
-            straightLeft(2);
             driveForward(5.25);
             raisearm(80);
             arm.setPower(0);
             driveForward(-38);
-            straightLeft(5.5);
+            straightLeft(7.5);
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.45);
+            gripper.setPosition(1);
             driveForward(7.5);
+            raisearm(-50);
+            wrist.setPosition(1);
+            raisearm(-70);
+            straightLeft(11);
+            driveForward(-10);
             terminateOpModeNow();
 
 
@@ -301,9 +311,13 @@ public class BlueBackStage extends LinearOpMode {
         raisearm(80);
         wrist.setPosition(0);
         raisearm(100);
-        gripper.setPosition(0.25);
-        gripper.setPosition(0.25);
+        gripper.setPosition(1);
         driveForward(6);
+       raisearm(-50);
+       wrist.setPosition(1);
+       raisearm(-70);
+       straightLeft(19);
+       driveForward(-10);
         terminateOpModeNow();
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
index 4b3bf80..e553ff8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
@@ -262,7 +262,7 @@ public class RedBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.3);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(4.5);
             sleep(500);
@@ -289,7 +289,7 @@ public class RedBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.35);
+            gripper.setPosition(1);
             driveForward(8.5);
             terminateOpModeNow();
 
@@ -312,7 +312,7 @@ else
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.3);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(5);
             terminateOpModeNow();