From 2ccea78af4c7f3d693f45aaa9c3fffc965991664 Mon Sep 17 00:00:00 2001
From: ImposterVarunoverlord <rajagopalva@student.saviochs.org>
Date: Fri, 1 Dec 2023 11:22:31 -0600
Subject: [PATCH] For khang

---
 .../java/org/firstinspires/ftc/teamcode/hardware/Arm.java    | 2 +-
 .../java/org/firstinspires/ftc/teamcode/hardware/Intake.java | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
index 0ad1bea..0c04bb9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Arm.java
@@ -18,7 +18,7 @@ public class Arm {
     private Slides.Position pos = Slides.Position.DOWN;
     private PController armController;
     private double armControllerTarget;
-    private double ARM_KP = 0.001;
+    public static double ARM_KP = 0.01;
 
 
     public enum Position {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
index 171c8ac..3e519e7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Intake.java
@@ -21,7 +21,7 @@ public class Intake {
         }
 
         public Position previousPosition() {
-            int backOne = (this.ordinal() - 1) % Position.values().length;
+            int backOne =Math.max(0,(this.ordinal() - 1) % Position.values().length);
             return Position.values()[backOne];
         }
     }
@@ -77,6 +77,9 @@ public class Intake {
         if (pwr >= 0.01) {
             this.setpos(this.pos);
         }
+        else {
+            this.setpos(Position.UP);
+        }
     }
 
     public double getPower() {