From cc8b86492115756c8e6a4cd1fcc3fc98f9d8a48d Mon Sep 17 00:00:00 2001
From: Ishaan Ghaskadbi <ishaanghaskadbi@Ishaans-MacBook-Air.local>
Date: Sat, 30 Nov 2024 22:30:07 -0500
Subject: [PATCH] more updates

---
 .../firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt  | 2 +-
 .../firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt | 2 +-
 .../ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt          | 4 +++-
 .../ftc/teamcode/subsystems/slides/OpenElevatorSubsystem.kt  | 5 ++++-
 4 files changed, 9 insertions(+), 4 deletions(-)

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 5e733f1..d26b03d 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
@@ -144,6 +144,6 @@ class MainTeleOp : CommandOpMode() {
 
     companion object {
         @JvmField
-        var kT = 0.05
+        var kT = 0.005
     }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt
index acd7294..6fa8a7a 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/IntakeTuner.kt
@@ -45,6 +45,6 @@ class IntakeTuner : CommandOpMode() {
         var speed = 0.0
 
         @JvmField
-        var position = 1.0
+        var position = 0.0
     }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt
index 11d128f..7877fd7 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/OpenArmSubsystem.kt
@@ -6,6 +6,7 @@ import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.arcrobotics.ftclib.hardware.motors.Motor.GoBILDA
 import com.arcrobotics.ftclib.hardware.motors.MotorGroup
 import org.firstinspires.ftc.teamcode.constants.ArmConstants
+import org.firstinspires.ftc.teamcode.opModes.teleOp.MainTeleOp.Companion.kT
 import kotlin.math.PI
 import kotlin.math.cos
 
@@ -40,7 +41,8 @@ class OpenArmSubsystem(
     }
 
     fun stop() {
-        turnMotors.set(ArmConstants.kCos.value * cos(armAngle))
+        turnMotors.set(ArmConstants.kCos.value * cos(armAngle) +
+                kT * slidePos.invoke())
     }
 
     companion object {
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/OpenElevatorSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/OpenElevatorSubsystem.kt
index 716250b..3cdd8f2 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/OpenElevatorSubsystem.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/slides/OpenElevatorSubsystem.kt
@@ -18,7 +18,10 @@ class OpenElevatorSubsystem(
         get() = elevatorMotors.positions[0] * SlidesConstants.MAX_HEIGHT_INCH.value / SlidesConstants.MAX_HEIGHT_TICKS.value
 
     init {
-        elevatorLeft.inverted = true
+        elevatorRight.inverted = true
+        elevatorRight.encoder.setDirection(Motor.Direction.REVERSE)
+
+        elevatorMotors.resetEncoder()
     }
 
     // Functions for moving slides up and down, number being speed, 1 being 100%