fixed

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/SlowIntakeBeltCommand.kt

@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.commands.intake
+
+import com.arcrobotics.ftclib.command.CommandBase
+import org.firstinspires.ftc.teamcode.subsystems.intake.IntakeSubsystem
+
+
+class SlowIntakeBeltCommand(
+    private val subsystem: IntakeSubsystem,
+    private val turn: Boolean,
+
+) : CommandBase() {
+
+        override fun initialize() {
+            addRequirements(subsystem)
+        }
+
+        override fun execute() {
+            if (turn) {
+                subsystem.wristUpSlow()
+            } else {
+                subsystem.wristDownSlow()
+            }
+        }
+
+        override fun end(interrupted: Boolean) {
+            subsystem.wristStop()
+        }
+
+
+    }

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt

@@ -19,6 +19,7 @@ import org.firstinspires.ftc.teamcode.commands.elevator.SpinDownCommand
 import org.firstinspires.ftc.teamcode.commands.elevator.SpinUpCommand
 import org.firstinspires.ftc.teamcode.commands.intake.IntakeBeltCommand
 import org.firstinspires.ftc.teamcode.commands.intake.IntakeCommand
+import org.firstinspires.ftc.teamcode.commands.intake.SlowIntakeBeltCommand
 import org.firstinspires.ftc.teamcode.commands.intake.ThrowbackCommand
 import org.firstinspires.ftc.teamcode.subsystems.arm.ArmSubsystem
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
@@ -38,6 +39,9 @@ class MainTeleOp : CommandOpMode() {
     private lateinit var outtakeCommand: Command
     private lateinit var intakeBeltCommand: Command
     private lateinit var outtakeBeltCommand: Command
+    private lateinit var slowIntakeBeltCommand: Command
+    private lateinit var slowOuttakeBeltCommand: Command
+
 
     private lateinit var driver: GamepadEx
     private var driverMode = DRIVER_MODE.SPEED
@@ -104,6 +108,8 @@ class MainTeleOp : CommandOpMode() {
         intakeBeltCommand = IntakeBeltCommand(Math.toRadians(-60.0), IntakeSubsystem)
 //        outtakeBeltCommand = IntakeBeltCommand(Math.toRadians(90.0), IntakeSubsystem)
         outtakeBeltCommand = ThrowbackCommand(IntakeSubsystem)
+        slowIntakeBeltCommand = SlowIntakeBeltCommand(IntakeSubsystem, true)
+        slowOuttakeBeltCommand = SlowIntakeBeltCommand(IntakeSubsystem, false)
 
         driveCommand = DriveCommand(DriveSubsystem, driver::getLeftX, driver::getLeftY, driver::getRightX, 0.0)
 
@@ -206,6 +212,16 @@ class MainTeleOp : CommandOpMode() {
             outtakeBeltCommand,
         )
 
+        driver.getGamepadButton(GamepadKeys.Button.LEFT_BUMPER).whileHeld(
+            slowOuttakeBeltCommand
+//            intakeBeltCommand
+        )
+
+        driver.getGamepadButton(GamepadKeys.Button.RIGHT_BUMPER).whileHeld(
+            slowIntakeBeltCommand
+//            outtakeBeltCommand
+        )
+
         driver.getGamepadButton(GamepadKeys.Button.B).whenPressed(
             InstantCommand({ operatorMode = operatorMode.toggle(operatorMode)})
         )

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt

@@ -92,9 +92,13 @@ object IntakeSubsystem : SubsystemBase() {
 
     fun wristUp() = if (!isPressed) wrist.set(1.0) else wrist.stop()
 
+    fun wristUpSlow() = if (!isPressed) wrist.set(0.2) else wrist.stop()
 
     fun wristDown() = wrist.set(-1.0)
 
+    fun wristDownSlow() = if (!isPressed) wrist.set(-0.2) else wrist.stop()
+
+
 
     fun wristStop() = wrist.set(kCos * cos(position))