From 635003b45fd756909b7df457eb0744bb47db1196 Mon Sep 17 00:00:00 2001
From: Joshua Smith <joshua@randomsmiths.com>
Date: Fri, 22 Nov 2024 14:42:47 -0500
Subject: [PATCH] made a drive only method in robot for outreach stuff

---
 .../ftc/teamcode/ftc16072/Mechanisms/ScoreArm.java        | 2 +-
 .../ftc/teamcode/ftc16072/Mechanisms/ScoringClaw.java     | 1 +
 .../ftc/teamcode/ftc16072/OpModes/FieldRelativeDrive.java | 6 ++++++
 .../org/firstinspires/ftc/teamcode/ftc16072/Robot.java    | 8 ++++++++
 4 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoreArm.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoreArm.java
index f1c2421..95c2817 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoreArm.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoreArm.java
@@ -16,7 +16,7 @@
 
 public class ScoreArm extends QQMechanism{
     public static final double TEST_SPEED = 0.55;
-    public static final int CLAW_RELEASE_OFFSET = 50;
+    public static final int CLAW_RELEASE_OFFSET = 150;
     DcMotor leftMotor;
     DcMotor rightMotor;
     TouchSensor limitSwitch;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoringClaw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoringClaw.java
index 38759dd..968567b 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoringClaw.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Mechanisms/ScoringClaw.java
@@ -56,6 +56,7 @@ public boolean isClawOpen() {
         return false;
     }
 
+
     public boolean isBlockGrabbable() {
         if (colorSensor.getDistance(DistanceUnit.CM) < GRABBABLE_DISTANCE_CM) {
             return true;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/FieldRelativeDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/FieldRelativeDrive.java
index 6d42c14..7e5534f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/FieldRelativeDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/OpModes/FieldRelativeDrive.java
@@ -6,6 +6,12 @@
 @TeleOp()
 public class FieldRelativeDrive extends QQOpMode{
 
+    @Override
+    public void init(){
+        robot.makeDriveOnly();
+        super.init();
+    }
+
     @Override
     public void loop() {
         nav.driveFieldRelative(-gamepad1.left_stick_y,gamepad1.left_stick_x,gamepad1.right_stick_x);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java
index 7db45e3..4c71aa7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ftc16072/Robot.java
@@ -33,6 +33,8 @@ public class Robot {
 
     public ScoreArm scoreArm;
 
+    boolean driveOnly;
+
 
     List<QQMechanism> mechanisms;
 
@@ -71,6 +73,12 @@ public void update(Telemetry telemetry){
         }
     }
 
+    public void makeDriveOnly(){
+        mechanisms = Arrays.asList(
+                controlHub,
+                mecanumDrive);
+    }
+
     public List<QQMechanism> getMechanisms() {
         return mechanisms;
     }