fixed big problem

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/SpinDownCommand.kt

@@ -0,0 +1,18 @@
+package org.firstinspires.ftc.teamcode.commands.drive
+
+import com.arcrobotics.ftclib.command.CommandBase
+import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsystem
+
+class SpinDownCommand (
+        private val subsystem: SlidesSubsystem
+) : CommandBase() {
+
+
+    override fun execute() {
+        subsystem.down()
+    }
+
+    override fun end(interrupted: Boolean) {
+        subsystem.stop()
+    }
+}

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/SpinUpCommand.kt

@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.commands.drive
+
+import com.arcrobotics.ftclib.command.CommandBase
+import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsystem
+
+class SpinUpCommand (
+        private val subsystem: SlidesSubsystem
+) : CommandBase() {
+
+    override fun execute() {
+        subsystem.up()
+    }
+
+    override fun end(interrupted: Boolean) {
+        subsystem.stop()
+    }
+
+
+}

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

@@ -1,11 +1,47 @@
 package org.firstinspires.ftc.teamcode.opModes.teleOp
 
 import com.arcrobotics.ftclib.command.CommandOpMode
+import com.arcrobotics.ftclib.gamepad.GamepadEx
+import com.arcrobotics.ftclib.gamepad.GamepadKeys
+import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
+import org.firstinspires.ftc.teamcode.commands.drive.SpinDownCommand
+import org.firstinspires.ftc.teamcode.commands.drive.SpinUpCommand
+import org.firstinspires.ftc.teamcode.constants.ControlBoard
+import org.firstinspires.ftc.teamcode.subsystems.slides.SlidesSubsystem
 
 @TeleOp
 class MainTeleOp: CommandOpMode() {
+
+    private lateinit var leftSlideString : Motor
+    private lateinit var rightSlideString : Motor
+
+
+    private lateinit var slidesSubsystem: SlidesSubsystem
+
+
+    private lateinit var spinUpCommand: SpinUpCommand
+    private lateinit var spinDownCommand: SpinDownCommand
+
+
+    private lateinit var driver : GamepadEx
+    private lateinit var operator : GamepadEx
+
     override fun initialize() {
-        TODO("Not yet implemented")
+        driver = GamepadEx(gamepad1)
+        operator = GamepadEx(gamepad2)
+
+        rightSlideString = Motor(hardwareMap, ControlBoard.SLIDES_RIGHT.deviceName)
+        leftSlideString = Motor(hardwareMap, ControlBoard.SLIDES_LEFT.deviceName)
+
+
+        slidesSubsystem = SlidesSubsystem(rightSlideString, leftSlideString)
+
+
+        spinUpCommand = SpinUpCommand(slidesSubsystem)
+        spinDownCommand = SpinDownCommand(slidesSubsystem)
+
+        operator.getGamepadButton(GamepadKeys.Button.DPAD_UP).whileHeld(spinUpCommand)
+        operator.getGamepadButton(GamepadKeys.Button.DPAD_DOWN).whileHeld(spinDownCommand)
     }
 }

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/DriveConstants.kt

@@ -1,29 +1,28 @@
-package org.firstinspires.ftc.teamcode.roadrunner.drive;
+package org.firstinspires.ftc.teamcode.utils.roadrunner.drive
 
-import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.acmerobotics.dashboard.config.Config
+import com.qualcomm.robotcore.hardware.PIDFCoefficients
 
 /*
- * Constants shared between multiple drive types.
- *
- * Constants generated by LearnRoadRunner.com/drive-constants
- *
- * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
- * fields may also be edited through the dashboard (connect to the robot's WiFi network and
- * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
- * adjust them in the dashboard; **config variable changes don't persist between app restarts**.
- *
- * These are not the only parameters; some are located in the localizer classes, drive base classes,
- * and op modes themselves.
- */
+* Constants shared between multiple drive types.
+*
+* Constants generated by LearnRoadRunner.com/drive-constants
+*
+* TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
+* fields may also be edited through the dashboard (connect to the robot's WiFi network and
+* navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
+* adjust them in the dashboard; **config variable changes don't persist between app restarts**.
+*
+* These are not the only parameters; some are located in the localizer classes, drive base classes,
+* and op modes themselves.
+*/
 @Config
-public class DriveConstants {
-
+object DriveConstants {
     /*
      * These are motor constants that should be listed online for your motors.
      */
-    public static final double TICKS_PER_REV = 383.6;
-    public static final double MAX_RPM = 435;
+    const val TICKS_PER_REV = 383.6
+    const val MAX_RPM = 435.0
 
     /*
      * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders.
@@ -33,9 +32,9 @@ public class DriveConstants {
      * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients
      * from DriveVelocityPIDTuner.
      */
-    public static final boolean RUN_USING_ENCODER = false;
-    public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0,
-      getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV));
+    const val RUN_USING_ENCODER = false
+    var MOTOR_VELO_PID = PIDFCoefficients(0.0, 0.0, 0.0,
+            getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV))
 
     /*
      * These are physical constants that can be determined from your robot (including the track
@@ -45,19 +44,19 @@ public class DriveConstants {
      * angular distances although most angular parameters are wrapped in Math.toRadians() for
      * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO.
      */
-    public static double WHEEL_RADIUS = 1.88976; // in`
-    public static double GEAR_RATIO = 0.5; // output (wheel) speed / input (motor) speed
-    public static double TRACK_WIDTH = 13.1; // in
+    var WHEEL_RADIUS = 1.88976 // in`
+    var GEAR_RATIO = 0.5 // output (wheel) speed / input (motor) speed
+    var TRACK_WIDTH = 13.1 // in
 
     /*
      * These are the feedforward parameters used to model the drive motor behavior. If you are using
      * the built-in velocity PID, *these values are fine as is*. However, if you do not have drive
      * motor encoders or have elected not to use them for velocity control, these values should be
      * empirically tuned.
      */
-    public static double kV = 0.024;
-    public static double kA = 0.003;
-    public static double kStatic = 0.01;
+    var kV = 0.024
+    var kA = 0.003
+    var kStatic = 0.01
 
     /*
      * These values are used to generate the trajectories for you robot. To ensure proper operation,
@@ -87,22 +86,20 @@ public class DriveConstants {
      * You are free to raise this on your own if you would like. It is best determined through experimentation.
      
      */
-    public static double MAX_VEL = 38.110287416570166;
-    public static double MAX_ACCEL = 38.110287416570166;
-    public static double MAX_ANG_VEL = Math.toRadians(355.94452299662714);
-    public static double MAX_ANG_ACCEL = Math.toRadians(172.2983035714285);
-
-
-    public static double encoderTicksToInches(double ticks) {
-        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+    var MAX_VEL = 38.110287416570166
+    var MAX_ACCEL = 38.110287416570166
+    var MAX_ANG_VEL = Math.toRadians(355.94452299662714)
+    var MAX_ANG_ACCEL = Math.toRadians(172.2983035714285)
+    fun encoderTicksToInches(ticks: Double): Double {
+        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV
     }
 
-    public static double rpmToVelocity(double rpm) {
-        return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
+    fun rpmToVelocity(rpm: Double): Double {
+        return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0
     }
 
-    public static double getMotorVelocityF(double ticksPerSecond) {
-      // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx
-      return 32767 / ticksPerSecond;
+    fun getMotorVelocityF(ticksPerSecond: Double): Double {
+        // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx
+        return 32767 / ticksPerSecond
     }
 }

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/utils/roadrunner/drive/StandardTrackingWheelLocalizer.kt

@@ -65,17 +65,17 @@ class StandardTrackingWheelLocalizer(hardwareMap: HardwareMap) : ThreeTrackingWh
 
     companion object {
         val TICKS_PER_REV = 8192.0
-        val WHEEL_RADIUS = 0.74803 // in
+        val WHEEL_RADIUS = 0.6889764 // in
         val GEAR_RATIO = 1.0 // output (wheel) speed / input (encoder) speed
 
         @JvmField
-        var LATERAL_DISTANCE = 15.48986087647907 // in; distance between the left and right wheels
+        var LATERAL_DISTANCE = 12.3206682876705018 // in; distance between the left and right wheels
 
         @JvmField
-        var FORWARD_OFFSET = 0.0 // in; offset of the lateral wheel
+        var FORWARD_OFFSET = 1.28125 // in; offset of the lateral wheel
 
-        var X_MULTIPLIER = 0.9943625369724665 // Multiplier in the X direction
-        var Y_MULTIPLIER = 0.9973390034543611 // Multiplier in the Y direction
+        var X_MULTIPLIER = 1.10506990189 // Multiplier in the X direction
+        var Y_MULTIPLIER = 1.09955932763 // Multiplier in the Y direction
         fun encoderTicksToInches(ticks: Double): Double {
             return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV
         }