From 23edb953a358d53eb0d2d0880c64b20c94e20ff3 Mon Sep 17 00:00:00 2001
From: Nishk04 <nishkjimikshah@gmail.com>
Date: Sat, 11 Nov 2023 20:13:27 -0800
Subject: [PATCH] Made all simple autonomous code with the beginning meaning
 after init is pressed the claw locks and goes into stow mode.

---
 .../java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java | 3 ++-
 .../org/firstinspires/ftc/teamcode/BlueRightFrontstage.java    | 2 ++
 .../java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java | 2 ++
 .../java/org/firstinspires/ftc/teamcode/RedRightBackstage.java | 2 ++
 4 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java
index dd0fe0d3d695..e813f440724e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueLeftBackstage.java
@@ -30,7 +30,8 @@ public void runOpMode() {
         driveMotors.backRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java
index c197232cd87c..14ac6f4d7fe7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueRightFrontstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 24;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java
index 9110d42e551e..3d5362ae362d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedLeftFrontstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 24;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java
index 4a58e0175676..480ffef7b632 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedRightBackstage.java
@@ -31,6 +31,8 @@ public void runOpMode() {
         intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         double setPoint = 30;
+        claw.rotate.setPosition(Claw.ROTATE_STOW);
+        claw.grip.setPosition(Claw.GRIP_CLOSED);
         waitForStart();
         telemetry.addData("Distance Driven Forward:", OdoToInches((driveMotors.backRight.getCurrentPosition() + driveMotors.frontLeft.getCurrentPosition())/2.0));