From 08bdcc9ba6871e43ec63c71756fd98fdd221852c Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Sat, 2 Dec 2023 00:02:44 -0500
Subject: [PATCH] more fixes and stuff

---
 CLOUDS/include/superstructure.hpp |  2 +-
 CLOUDS/src/autons.cpp             |  5 +++--
 CLOUDS/src/globals.cpp            |  4 ++--
 CLOUDS/src/superstructure.cpp     | 10 +++++-----
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/CLOUDS/include/superstructure.hpp b/CLOUDS/include/superstructure.hpp
index 21923f3..319673b 100644
--- a/CLOUDS/include/superstructure.hpp
+++ b/CLOUDS/include/superstructure.hpp
@@ -49,7 +49,7 @@ namespace superstruct {
     /* Structure */
     void togglePto(bool toggle);
     void runCata(double inpt);
-    void runAntiBlock(double inpt);
+    void runIntake(double inpt);
     void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton);
     void wingsControl(pros::controller_digital_e_t wingControlButton);
 
diff --git a/CLOUDS/src/autons.cpp b/CLOUDS/src/autons.cpp
index 12da81e..de2382c 100644
--- a/CLOUDS/src/autons.cpp
+++ b/CLOUDS/src/autons.cpp
@@ -11,10 +11,11 @@ using namespace superstruct;
 */
 void near_side() {
   // Score the triball preload
-  
+  togglePto(true);
   // INTAKE PLACEHOLDER -> IN
+  runIntake(-12000);
   driveSync(90, true);
-  turnSync(90);
+turnSync(90);
 
   // INTAKE PLACERHOLDER -> OUT
   pros::delay(125);
diff --git a/CLOUDS/src/globals.cpp b/CLOUDS/src/globals.cpp
index 49a421e..01fbe61 100644
--- a/CLOUDS/src/globals.cpp
+++ b/CLOUDS/src/globals.cpp
@@ -19,7 +19,7 @@ namespace globals {
 
     pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false);
     pros::Motor motor_blb(9, MOTOR_GEARSET_06, true);
-    pros::Motor motor_blf(3, MOTOR_GEARSET_06, true);
+    pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
     pros::Motor motor_tlb(7, MOTOR_GEARSET_06, false);
     pros::Motor motor_trf(15, MOTOR_GEARSET_06, true);
     pros::Motor motor_trb(6, MOTOR_GEARSET_06, true);
@@ -41,7 +41,7 @@ namespace globals {
     Timer timer;
 
     Drive chassis(
-        {14, -9, -3, 7},
+        {14, -9, -2, 7},
         {-15, 12, 5, -6},
         18,
         WHEEL_SIZE,
diff --git a/CLOUDS/src/superstructure.cpp b/CLOUDS/src/superstructure.cpp
index e7ff63a..8edbc66 100644
--- a/CLOUDS/src/superstructure.cpp
+++ b/CLOUDS/src/superstructure.cpp
@@ -3,7 +3,7 @@
 using namespace ary;
 using namespace globals;
 
-bool ptoEnabled = true;
+bool ptoEnabled = false;
 bool wingsOpen = false;
 
 /*
@@ -157,15 +157,15 @@ namespace superstruct {
 
   void runCata(double inpt) {
     if (!ptoEnabled) return;
-    cata_mtr = inpt;
+    cata_mtr.move_voltage(inpt);
   }
 
   void runIntake(double inpt) {
     if (!ptoEnabled) return;
-    intake_mtr = inpt;
+    intake_mtr.move_voltage(inpt);
   }
 
-  int lock = 1;
+  int lock = 0;
   void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton) {
     if (globals::master.get_digital(ptoToggleButton) && lock == 0) { // If the PTO button has been pressed and the PTO is not engaged
       togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
@@ -185,7 +185,7 @@ namespace superstruct {
     } else if (globals::master.get_digital(outtakeButton)) {
       runIntake(12000);
     } else {
-      runIntake(-25);
+      runIntake(0);
     }
   }