From a260b373de95d560d4b3c8643d05e3616119082f Mon Sep 17 00:00:00 2001
From: robotics2 <robotics2@scds.org>
Date: Tue, 28 Nov 2023 16:27:08 -0800
Subject: [PATCH] speed buttons added, extra steps taken out of auto.

---
 .../ftc/teamcode/Autonomoustest.java            |  9 +++------
 .../org/firstinspires/ftc/teamcode/arm.java     | 17 ++++++++++++++---
 .../firstinspires/ftc/teamcode/bluefront.java   |  9 +++------
 3 files changed, 20 insertions(+), 15 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
index bfcec30..07518e0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
@@ -261,8 +261,7 @@ public class Autonomoustest extends LinearOpMode {
             arm.setPower(0);
             driveForward(-21);
             straightLeft(32);
-            driveForward(18);
-            driveForward(-28);
+            driveForward(-10);
             straightRight(33);
             driveForward(-1.5);
             raisearm(80);
@@ -291,8 +290,7 @@ public class Autonomoustest extends LinearOpMode {
             driveForward(-15.5);
             turnLeft(90);
             straightLeft(15);
-            driveForward(8);
-            driveForward(-28.5);
+            driveForward(-20.5);
             straightRight(19);
             driveForward(-1.5);
             raisearm(80);
@@ -320,8 +318,7 @@ else
             driveForward(-15);
             turnLeft(90);
             straightLeft(15);
-            driveForward(8);
-            driveForward(-26);
+            driveForward(-18);
             straightRight(29);
             driveForward(-1.5);
             raisearm(80);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm.java
index 666ebff..341acdb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/arm.java
@@ -100,7 +100,11 @@ public class arm extends OpMode {
 
     }
 
-    double num = 2.5;
+    //double num = 2.25;
+    final static double MOTOR_HI_SPEED_RATIO = 2.25;
+    final static double MOTOR_LO_SPEED_RATIO = 3.5;
+    final static double ARM_POWER = 3.5;
+    double num = MOTOR_HI_SPEED_RATIO;
     /**
      * User defined loop method.
      * This method will be called repeatedly in a loop while this op mode is running
@@ -112,10 +116,17 @@ public class arm extends OpMode {
         backRight.setDirection(DcMotor.Direction.REVERSE);
 
 
-        double armPower = gamepad2.right_stick_y/3.5;
+        double armPower = gamepad2.right_stick_y/ARM_POWER;
         // Normalize the values so no wheel power exceeds 100%
         // This ensures that the robot maintains the desired motion.
-
+        if(gamepad1.a)
+        {
+            num = MOTOR_HI_SPEED_RATIO;
+        }
+        if (gamepad1.b)
+        {
+            num = MOTOR_LO_SPEED_RATIO;
+        }
         if(gamepad2.right_stick_y != 0)
         {
             arm.setPower(armPower);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
index 741db9c..3aa88df 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
@@ -251,8 +251,7 @@ public class bluefront extends LinearOpMode {
             driveForward(-15.5);
             turnRight(90);
             straightRight(15);
-            driveForward(8);
-            driveForward(-28.5);
+            driveForward(-20.5);
             straightLeft(19);
             raisearm(80);
             wrist.setPosition(0);
@@ -281,8 +280,7 @@ public class bluefront extends LinearOpMode {
             arm.setPower(0);
             driveForward(-21);
             straightRight(32);
-            driveForward(18);
-            driveForward(-28);
+            driveForward(-10);
            straightLeft(33);
             raisearm(80);
             wrist.setPosition(0);
@@ -309,8 +307,7 @@ public class bluefront extends LinearOpMode {
         driveForward(-15);
         turnRight(90);
         straightRight(15);
-        driveForward(8);
-        driveForward(-26);
+        driveForward(-18);
         straightLeft(29);
         raisearm(80);
         wrist.setPosition(0);