From 4272ff01773155e03cde3aeec1c2bef85d86be47 Mon Sep 17 00:00:00 2001
From: joshua <joshua@randomsmiths.com>
Date: Sun, 12 Jan 2025 16:32:13 -0500
Subject: [PATCH] Changed Positions in auto and added manual intake arm to
 gamepad 2

---
 .../OpModes/PushintoNetandAscendAuto.java     | 39 +++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java
new file mode 100644
index 0000000..23d421c
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/PushintoNetandAscendAuto.java
@@ -0,0 +1,39 @@
+package org.firstinspires.ftc.teamcode.ftc16072.OpModes;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+@Autonomous
+public class PushintoNetandAscendAuto extends QQOpMode{
+    private double step = 0;
+
+    public void init(){
+        super.init();
+        robot.otos.setOtosPosition(-61.5,0,-90);
+    }
+    public void loop(){
+        super.loop();
+        if(step == 0){
+            boolean donedriving = nav.driveToPositionIN(-58,24,0);
+              if(donedriving){
+                  step = 1;
+            }
+        }else if(step == 1){
+            boolean doneDriving = nav.driveToPositionIN(-28,24,0);
+            if(doneDriving){
+                step = 2;
+            }
+        }else if(step == 2){
+           boolean doneDriving = nav.driveToPositionIN(-24,10,0);
+           if(doneDriving){
+               step = 3;
+            }
+    } else if (step == 3) {
+            boolean doneDriving = nav.driveToPositionIN(-24,10,-90);
+            if (doneDriving){
+                step = 4;
+                robot.scoreArm.goToPlace();
+            }
+        }
+
+    }
+}