From a4ee7223c37998aeac3930431ff87777beea17e1 Mon Sep 17 00:00:00 2001
From: Thomas <@TOMMY>
Date: Tue, 28 Nov 2023 18:22:28 -0600
Subject: [PATCH] Claw, Gantry, and Lift

---
 TeamCode/src/main/java/opmodes/MainTeleOp.java         |  4 +++-
 .../org/firstinspires/ftc/teamcode/hardware/Drone.java | 10 ++++++++--
 .../ftc/teamcode/hardware/RobotConfig.java             |  4 +++-
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/opmodes/MainTeleOp.java b/TeamCode/src/main/java/opmodes/MainTeleOp.java
index 9eeb5b9..1a4dc11 100644
--- a/TeamCode/src/main/java/opmodes/MainTeleOp.java
+++ b/TeamCode/src/main/java/opmodes/MainTeleOp.java
@@ -50,7 +50,7 @@ public class MainTeleOp extends OpMode {
         boolean clawDown = gamepad2.a || clawDownSafe; // A
 
         // Robot Drone Launch
-        boolean robotDroneLaunch = gamepad1.right_bumper; // Change if Merck wants (RT)
+        boolean robotDroneLaunch = gamepad1.left_bumper; // Change if Merck wants (LT)
 
         // Robot Lift
         boolean robotLiftRotation = gamepad2.right_trigger > 0.05; // RT
@@ -121,6 +121,8 @@ public class MainTeleOp extends OpMode {
 
         if (robotDroneLaunch) {
             this.robot.getDrone().raise();
+        } else {
+            this.robot.getDrone().reset();
         }
         // Robot Lift
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drone.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drone.java
index 074995c..22820fd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drone.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Drone.java
@@ -1,6 +1,8 @@
 package org.firstinspires.ftc.teamcode.hardware;
 
+import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_LAUNCH_POS;
 import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_ROTATION_UP_NAME;
+import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.DRONE_STOW_POS;
 
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.Servo;
@@ -14,7 +16,11 @@ public class Drone {
     }
 
     public void raise() {
-        this.droneLaunchServo.setPosition(0.2);
-
+        this.droneLaunchServo.setPosition(DRONE_LAUNCH_POS);
     }
+
+    public void reset() {
+        this.droneLaunchServo.setPosition(DRONE_STOW_POS);
+    }
+
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
index ad51b64..da239fe 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/RobotConfig.java
@@ -16,7 +16,7 @@ public class RobotConfig {
     public static final String GANTRY_X_NAME = "gantry_x";
     public static final String GANTRY_ARM_NAME = "gantryArm";
     public static final String GANTRY_SCREW_NAME = "screw";
-    public static final String DRONE_ROTATION_UP_NAME = "droneUp";
+    public static final String DRONE_ROTATION_UP_NAME = "droneLaunch";
     public static final String ROBOT_LIFT_ROTATION_NAME = "liftRotation";
     public static final String ROBOT_LIFT_LIFT_NAME = "liftLift";
     public static final String WEBCAM_NAME = "webcam";
@@ -53,6 +53,8 @@ public class RobotConfig {
 
     // Robot Drone Launch
     public static double DRONE_ROTATION_UP = 0.2;
+    public static double DRONE_LAUNCH_POS = 0.3;
+    public static double DRONE_STOW_POS = 0.2;
 
     // Robot Lift
     public static double LIFT_ROTATION_UP = 0.4;