before restart

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue.java

@@ -13,7 +13,7 @@ import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
 import static org.firstinspires.ftc.teamcode.constants.Poses.y2;
 import static org.firstinspires.ftc.teamcode.constants.Poses.y2_b;
 import static org.firstinspires.ftc.teamcode.constants.Poses.y3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -94,7 +94,7 @@ public class Blue extends LinearOpMode {
 
         Intake intake = new Intake(robot);
 
-        robot.hood.setPosition(0.54);
+        robot.hood.setPosition(hoodDefault);
 
 
 
@@ -131,6 +131,16 @@ public class Blue extends LinearOpMode {
 
         while(opModeInInit()) {
 
+            if (gamepad2.dpadUpWasPressed()){
+                hoodDefault -= 0.02;
+            }
+
+            if (gamepad2.dpadDownWasPressed()){
+                hoodDefault += 0.02;
+            }
+
+            robot.hood.setPosition(hoodDefault);
+
             shooter.setTurretPosition(0.33);
 
             aprilTag.initTelemetry();
@@ -148,7 +158,7 @@ public class Blue extends LinearOpMode {
 
         if (opModeIsActive()){
 
-            robot.hood.setPosition(0.54);
+            robot.hood.setPosition(hoodDefault);
 
             transfer.setTransferPower(1);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java

@@ -27,6 +27,8 @@ import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
 import org.firstinspires.ftc.teamcode.subsystems.Transfer;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
 
 
 @Config
@@ -80,7 +82,7 @@ public class Red extends LinearOpMode {
 
         shooter.setShooterMode("MANUAL");
 
-        shooter.sethoodPosition(0.53);
+        shooter.sethoodPosition(hoodDefault);
 
         transfer = new Transfer(robot);
 
@@ -88,7 +90,7 @@ public class Red extends LinearOpMode {
 
         Intake intake = new Intake(robot);
 
-        robot.hood.setPosition(0.54);
+        robot.hood.setPosition(hoodDefault);
 
 
 
@@ -125,6 +127,16 @@ public class Red extends LinearOpMode {
 
         while(opModeInInit()) {
 
+            if (gamepad2.dpadUpWasPressed()){
+                hoodDefault -= 0.02;
+            }
+
+            if (gamepad2.dpadDownWasPressed()){
+                hoodDefault += 0.02;
+            }
+
+            robot.hood.setPosition(hoodDefault);
+
             shooter.setTurretPosition(0.33);
 
             aprilTag.initTelemetry();
@@ -142,7 +154,7 @@ public class Red extends LinearOpMode {
 
         if (opModeIsActive()){
 
-            robot.hood.setPosition(0.54);
+            robot.hood.setPosition(hoodDefault);
 
             transfer.setTransferPower(1);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java

@@ -17,5 +17,7 @@ public class ServoPositions {
 
     public static double transferServo_in = 0.4;
 
+    public static double hoodDefault = 0.54;
+
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Spindexer.java

@@ -122,14 +122,24 @@ public class Spindexer implements Subsystem{
     }
 
     public void intakeShake(double runtime) {
-        if ((runtime % 0.33) >0.167) {
+        if ((runtime % 0.25) >0.125) {
-            position = spindexer_intakePos + 0.02;
+            position = spindexer_intakePos + 0.04;
         } else {
-            position = spindexer_intakePos - 0.02;
+            position = spindexer_intakePos - 0.04;
 
         }
     }
 
+    public void outtake3Shake(double runtime) {
+        if ((runtime % 0.25) >0.125) {
+            position = spindexer_outtakeBall3 + 0.04;
+        } else {
+            position = spindexer_outtakeBall3 - 0.04;
+
+        }
+    }
+
+
     public void outtake3 () {
         position = spindexer_outtakeBall3;
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodDefault;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -49,7 +50,7 @@ public class TeleopV1 extends LinearOpMode {
 
     public static double power = 0.0;
 
-    public static double pos = 0.54;
+    public static double pos = hoodDefault;
 
     public boolean all = false;
 
@@ -240,6 +241,10 @@ public class TeleopV1 extends LinearOpMode {
             if (g1LeftBumper.wasJustPressed()){
                 g2LeftBumperStamp = getRuntime();
 
+
+
+                spindexer.intakeShake(getRuntime());
+
                 leftBumper = true;
             }