From 27e15d525da86872b29455de67353d8262c8b3df Mon Sep 17 00:00:00 2001
From: AdityaP241 <adi24.patil@gmail.com>
Date: Thu, 26 Dec 2024 14:59:22 -0500
Subject: [PATCH] fixed

---
 .idea/misc.xml                                |  2 +-
 .../commands/intake/SlowIntakeBeltCommand.kt  | 30 +++++++++++++++++++
 .../ftc/teamcode/opModes/teleOp/MainTeleOp.kt | 16 ++++++++++
 .../subsystems/intake/IntakeSubsystem.kt      |  4 +++
 4 files changed, 51 insertions(+), 1 deletion(-)
 create mode 100644 TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/SlowIntakeBeltCommand.kt

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 2205f44..e15adbe 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -8,7 +8,7 @@
     </list>
   </component>
   <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/SlowIntakeBeltCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/intake/SlowIntakeBeltCommand.kt
new file mode 100644
index 0000000..b8de4ae
--- /dev/null
+++ b/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()
+        }
+
+
+    }
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt
index 3e8c121..1de5871 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt
+++ b/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)})
         )
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
index ab78b03..2a67320 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
+++ b/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))