lunch tuning

Author: AshOnDiscord

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/intake/Diffy.kt

@@ -26,7 +26,7 @@ class Diffy(val robot: Robot) : Subsystem() {
 
     companion object {
         @JvmField
-        var transferPitch = 0.79
+        var transferPitch = 0.69
 
         @JvmField
         var transferRoll = 1.0

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/outtake/OuttakeArm.kt

@@ -33,7 +33,7 @@ class OuttakeArm(val robot: Robot) : Subsystem() {
 
     companion object {
         @JvmField
-        var basePosition = 0.65
+        var basePosition = 0.64
 
         @JvmField
         var specimenPosition = 0.5

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/common/subsystems/outtake/OuttakeWrist.kt

@@ -27,7 +27,7 @@ class OuttakeWrist(val robot: Robot) : Subsystem() {
 
     companion object {
         @JvmField
-        var basePosition = 0.8375
+        var basePosition = 0.875
 
         @JvmField
         var specimenPosition = 0.5

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/teleop/BasicTeleop.kt

@@ -59,12 +59,12 @@ class BasicTeleop : OpMode() {
                         robot.intake.arm.state = IntakeArmPosition.BASE
                         robot.intake.diffy.pitch = Diffy.transferPitch
                         robot.intake.diffy.roll = Diffy.transferRoll
+                        robot.outtake.claw.isOpen = true
                     }, robot.intake),
                     WaitCommand(intakeDuration),
                     InstantCommand({
                         robot.outtake.arm.state = OuttakeArmPosition.BASE
                         robot.outtake.wrist.state = OuttakeWristPosition.BASE
-                        robot.outtake.claw.isOpen = true
                     }, robot.outtake),
                     WaitCommand(transferDuration),
                     InstantCommand({
@@ -248,12 +248,12 @@ class BasicTeleop : OpMode() {
         var transferClawDelay: Long = 250
 
         @JvmField
-        var transferDuration: Long = 1500
+        var transferDuration: Long = 0
 
         @JvmField
         var outtakePickupClawDelay: Long = 250
 
         @JvmField
-        var intakeDuration: Long = 1500
+        var intakeDuration: Long = 750
     }
 }