From fdcb4b153113c796a908c8abbf23722024c37969 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Sun, 3 Dec 2023 17:50:30 -0500
Subject: [PATCH 01/16] Box API

initialized servos
created functions to move box
---
 .../org/firstinspires/ftc/teamcode/api/Box.kt | 51 +++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
new file mode 100644
index 00000000..e921bde9
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -0,0 +1,51 @@
+package org.firstinspires.ftc.teamcode.api
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.hardware.DcMotor
+import com.qualcomm.robotcore.hardware.Servo
+
+object Box : API() {
+
+    private lateinit var boxL: Servo
+    private lateinit var boxR: Servo
+    private lateinit var grip: Servo
+
+    override fun init(opMode : OpMode) {
+
+        super.init(opMode)
+
+        this.boxL = this.hardwareMap.get(Servo::class.java, "boxL")
+        this.boxR = this.hardwareMap.get(Servo::class.java, "boxR")
+        this.grip = this.hardwareMap.get(Servo::class.java, "grip")
+    }
+
+    /*
+    * Moves the box to the ground
+    */
+    fun dropBox() {
+        boxL.position = 90.0
+        boxR.position = 90.0
+    }
+
+    /*
+    * Moves box to upright position
+    */
+    fun pickUpBox() {
+        boxL.position = 0.0
+        boxL.position = 0.0
+    }
+
+    /*
+    * Moves the grip to keep pixels in place when  [pickUpBox] the box
+    */
+    fun gripIn() {
+        grip.position = 20.0
+    }
+
+    /*
+    * Resets the grip to starting position
+    */
+    fun gripOut() {
+        grip.position = 0.0
+    }
+}
\ No newline at end of file

From e9b0074d3425c7de93737bc2dba1e23378295bec Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Wed, 6 Dec 2023 18:57:58 -0500
Subject: [PATCH 02/16] rebind slow mode

Ben requested formally that we rebind the slowmode button
---
 .../org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index d17ca103..105d6ff8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -43,7 +43,7 @@ object TeleOpMovement : Component {
         var joyMagnitude = sqrt(joyY * joyY + joyX * joyX)
 
         // if the right bumper is pressed move slower
-        if (gamepad.right_bumper) {
+        if (gamepad.y) {
             joyMagnitude *= SLOW_MULTIPLIER
         }
 

From 8e481b3746d4c2ec92b7d89ba7cc1db291e64699 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Wed, 6 Dec 2023 19:04:07 -0500
Subject: [PATCH 03/16] Box and Gripper Movement

Adds gamepad functionality to the box
---
 .../ftc/teamcode/components/TeleOpMovement.kt   | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index 105d6ff8..6b9e3fcf 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.components
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import org.firstinspires.ftc.teamcode.api.Box
 import org.firstinspires.ftc.teamcode.api.TeleOpState
 import org.firstinspires.ftc.teamcode.api.TriWheels
 import kotlin.math.PI
@@ -47,6 +48,22 @@ object TeleOpMovement : Component {
             joyMagnitude *= SLOW_MULTIPLIER
         }
 
+        // Inputs for the gripper on the box
+        if (gamepad.left_bumper) {
+            Box.gripIn()
+        }
+        if (gamepad.right_bumper) {
+            Box.gripOut()
+        }
+
+        // Inputs for the movement of the box
+        if (gamepad.a) {
+            Box.dropBox()
+        }
+        if (gamepad.b) {
+            Box.pickUpBox()
+        }
+
         // movement of all wheels
         TriWheels.driveWithRotation(joyRadians, joyMagnitude, rotationPower)
     }

From 1563eafc3448d4d4979c2414bc2c893ce22d888b Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Wed, 6 Dec 2023 20:31:41 -0500
Subject: [PATCH 04/16] position update

Changed position to represent the 0 to 1 scale used for servos
---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index e921bde9..29ebf8a8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -23,8 +23,8 @@ object Box : API() {
     * Moves the box to the ground
     */
     fun dropBox() {
-        boxL.position = 90.0
-        boxR.position = 90.0
+        boxL.position = 0.5
+        boxR.position = 0.5
     }
 
     /*
@@ -39,7 +39,7 @@ object Box : API() {
     * Moves the grip to keep pixels in place when  [pickUpBox] the box
     */
     fun gripIn() {
-        grip.position = 20.0
+        grip.position = 0.2
     }
 
     /*

From 4e3d91ea6c36c2f9c0c0af51a097eb6cd73c64fb Mon Sep 17 00:00:00 2001
From: BD103 <59022059+BD103@users.noreply.github.com>
Date: Thu, 7 Dec 2023 11:18:02 -0500
Subject: [PATCH 05/16] chore: format box api

---
 .../org/firstinspires/ftc/teamcode/api/Box.kt | 31 +++++++++----------
 1 file changed, 14 insertions(+), 17 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index 29ebf8a8..f0ad98af 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -1,17 +1,14 @@
 package org.firstinspires.ftc.teamcode.api
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
-import com.qualcomm.robotcore.hardware.DcMotor
 import com.qualcomm.robotcore.hardware.Servo
 
 object Box : API() {
-
     private lateinit var boxL: Servo
     private lateinit var boxR: Servo
     private lateinit var grip: Servo
 
-    override fun init(opMode : OpMode) {
-
+    override fun init(opMode: OpMode) {
         super.init(opMode)
 
         this.boxL = this.hardwareMap.get(Servo::class.java, "boxL")
@@ -19,33 +16,33 @@ object Box : API() {
         this.grip = this.hardwareMap.get(Servo::class.java, "grip")
     }
 
-    /*
-    * Moves the box to the ground
-    */
+    /**
+     * Moves the box to the ground
+     */
     fun dropBox() {
         boxL.position = 0.5
         boxR.position = 0.5
     }
 
-    /*
-    * Moves box to upright position
-    */
+    /**
+     * Moves box to upright position
+     */
     fun pickUpBox() {
         boxL.position = 0.0
         boxL.position = 0.0
     }
 
-    /*
-    * Moves the grip to keep pixels in place when  [pickUpBox] the box
-    */
+    /**
+     * Moves the grip to keep pixels in place when [pickUpBox] the box
+     */
     fun gripIn() {
         grip.position = 0.2
     }
 
-    /*
-    * Resets the grip to starting position
-    */
+    /**
+     * Resets the grip to starting position
+     */
     fun gripOut() {
         grip.position = 0.0
     }
-}
\ No newline at end of file
+}

From b08fa1b59eae49fae21285293731ec018b7fe3b0 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Sun, 10 Dec 2023 16:47:00 -0500
Subject: [PATCH 06/16] documentation changes

added more descriptions
fixed logic error
---
 .../org/firstinspires/ftc/teamcode/api/Box.kt | 22 +++++++++++--------
 .../ftc/teamcode/components/TeleOpMovement.kt |  6 ++---
 2 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index f0ad98af..ac1f232f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -3,7 +3,11 @@ package org.firstinspires.ftc.teamcode.api
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
 import com.qualcomm.robotcore.hardware.Servo
 
+/**
+ * An API for controlling the Box on the robot.
+ * */
 object Box : API() {
+
     private lateinit var boxL: Servo
     private lateinit var boxR: Servo
     private lateinit var grip: Servo
@@ -17,32 +21,32 @@ object Box : API() {
     }
 
     /**
-     * Moves the box to the ground
-     */
+    * Moves the box to the ground
+    */
     fun dropBox() {
         boxL.position = 0.5
         boxR.position = 0.5
     }
 
     /**
-     * Moves box to upright position
-     */
+    * Moves box to upright position
+    */
     fun pickUpBox() {
         boxL.position = 0.0
         boxL.position = 0.0
     }
 
     /**
-     * Moves the grip to keep pixels in place when [pickUpBox] the box
-     */
+    * Moves the grip to keep pixels in place when  [pickUpBox] the box
+    */
     fun gripIn() {
         grip.position = 0.2
     }
 
     /**
-     * Resets the grip to starting position
-     */
+    * Resets the grip to starting position
+    */
     fun gripOut() {
         grip.position = 0.0
     }
-}
+}
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index 6b9e3fcf..cb91fb83 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -43,7 +43,7 @@ object TeleOpMovement : Component {
         val joyRadians = atan2(joyY, joyX) - (PI / 3.0)
         var joyMagnitude = sqrt(joyY * joyY + joyX * joyX)
 
-        // if the right bumper is pressed move slower
+        // if the y  button is pressed move slower
         if (gamepad.y) {
             joyMagnitude *= SLOW_MULTIPLIER
         }
@@ -52,7 +52,7 @@ object TeleOpMovement : Component {
         if (gamepad.left_bumper) {
             Box.gripIn()
         }
-        if (gamepad.right_bumper) {
+        else if (gamepad.right_bumper) {
             Box.gripOut()
         }
 
@@ -60,7 +60,7 @@ object TeleOpMovement : Component {
         if (gamepad.a) {
             Box.dropBox()
         }
-        if (gamepad.b) {
+        else if (gamepad.b) {
             Box.pickUpBox()
         }
 

From b543d0391a74eec7fe97bd6ca713f26f972f6761 Mon Sep 17 00:00:00 2001
From: BD103 <59022059+BD103@users.noreply.github.com>
Date: Mon, 11 Dec 2023 08:20:23 -0500
Subject: [PATCH 07/16] refactor: format box api and teleop movement component

---
 .../org/firstinspires/ftc/teamcode/api/Box.kt | 33 +++++++++----------
 .../ftc/teamcode/components/TeleOpMovement.kt |  6 ++--
 2 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index ac1f232f..4c2b735c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -5,9 +5,8 @@ import com.qualcomm.robotcore.hardware.Servo
 
 /**
  * An API for controlling the Box on the robot.
- * */
+ */
 object Box : API() {
-
     private lateinit var boxL: Servo
     private lateinit var boxR: Servo
     private lateinit var grip: Servo
@@ -21,32 +20,32 @@ object Box : API() {
     }
 
     /**
-    * Moves the box to the ground
-    */
+     * Moves the box to the ground
+     */
     fun dropBox() {
-        boxL.position = 0.5
-        boxR.position = 0.5
+        this.boxL.position = 0.5
+        this.boxR.position = 0.5
     }
 
     /**
-    * Moves box to upright position
-    */
+     * Moves box to upright position
+     */
     fun pickUpBox() {
-        boxL.position = 0.0
-        boxL.position = 0.0
+        this.boxL.position = 0.0
+        this.boxL.position = 0.0
     }
 
     /**
-    * Moves the grip to keep pixels in place when  [pickUpBox] the box
-    */
+     * Moves the grip to keep pixels in place when  [pickUpBox] the box
+     */
     fun gripIn() {
-        grip.position = 0.2
+        this.grip.position = 0.2
     }
 
     /**
-    * Resets the grip to starting position
-    */
+     * Resets the grip to starting position
+     */
     fun gripOut() {
-        grip.position = 0.0
+        this.grip.position = 0.0
     }
-}
\ No newline at end of file
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index cb91fb83..15d04d9e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -51,16 +51,14 @@ object TeleOpMovement : Component {
         // Inputs for the gripper on the box
         if (gamepad.left_bumper) {
             Box.gripIn()
-        }
-        else if (gamepad.right_bumper) {
+        } else if (gamepad.right_bumper) {
             Box.gripOut()
         }
 
         // Inputs for the movement of the box
         if (gamepad.a) {
             Box.dropBox()
-        }
-        else if (gamepad.b) {
+        } else if (gamepad.b) {
             Box.pickUpBox()
         }
 

From e4e98424f147f0806a24859ec31943302a91c9e4 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Sun, 14 Jan 2024 15:34:56 -0500
Subject: [PATCH 08/16] init the box api

the box api needed to be initialized
---
 .../firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt
index 40c104b2..96304ba3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/teleop/TeleOpMain.kt
@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.opmode.teleop
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
+import org.firstinspires.ftc.teamcode.api.Box
 import org.firstinspires.ftc.teamcode.api.GamepadEx
 import org.firstinspires.ftc.teamcode.api.Telemetry
 import org.firstinspires.ftc.teamcode.api.TriWheels
@@ -24,6 +25,9 @@ class TeleOpMain : OpMode() {
         // Advanced gamepad inputs
         GamepadEx.init(this)
 
+        // Box controls
+        Box.init(this)
+
         // Log that we are initialized
         Telemetry.sayInitialized()
     }

From d6e0a24ed9ba8b4610438473c998a8ed47db7cd4 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Sun, 14 Jan 2024 16:14:06 -0500
Subject: [PATCH 09/16] small changes

needed to make them move in the same direction
---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index 4c2b735c..c61179ab 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -23,7 +23,7 @@ object Box : API() {
      * Moves the box to the ground
      */
     fun dropBox() {
-        this.boxL.position = 0.5
+        this.boxL.position = -0.5
         this.boxR.position = 0.5
     }
 
@@ -32,7 +32,7 @@ object Box : API() {
      */
     fun pickUpBox() {
         this.boxL.position = 0.0
-        this.boxL.position = 0.0
+        this.boxR.position = 0.0
     }
 
     /**

From 3c9eb3685e8b3ab7f769da922b9ae48ce11d375d Mon Sep 17 00:00:00 2001
From: Vifi5 <117041326+Vif15@users.noreply.github.com>
Date: Sun, 14 Jan 2024 18:16:31 -0500
Subject: [PATCH 10/16] Changed the values for boxL and boxR to sync them up.

---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index c61179ab..d8b6b6d8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -23,15 +23,15 @@ object Box : API() {
      * Moves the box to the ground
      */
     fun dropBox() {
-        this.boxL.position = -0.5
-        this.boxR.position = 0.5
+        this.boxL.position = 0.4
+        this.boxR.position = 0.35
     }
 
     /**
      * Moves box to upright position
      */
     fun pickUpBox() {
-        this.boxL.position = 0.0
+        this.boxL.position = 0.76
         this.boxR.position = 0.0
     }
 

From 4b7c970d5b6a0d304e5037356e4b2e5954182b3e Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Thu, 18 Jan 2024 21:46:48 -0500
Subject: [PATCH 11/16] fine tune

ben gave numbers

Co-Authored-By: Vifi5 <117041326+Vif15@users.noreply.github.com>
---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index d8b6b6d8..210f24d2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -39,13 +39,13 @@ object Box : API() {
      * Moves the grip to keep pixels in place when  [pickUpBox] the box
      */
     fun gripIn() {
-        this.grip.position = 0.2
+        this.grip.position = 0.23
     }
 
     /**
      * Resets the grip to starting position
      */
     fun gripOut() {
-        this.grip.position = 0.0
+        this.grip.position = 0.18
     }
 }

From e75b3ae96b355d9d0a469934e57d071a5aa2c2e5 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Thu, 18 Jan 2024 22:10:01 -0500
Subject: [PATCH 12/16] fine tuning

ben gave number

Co-Authored-By: Vifi5 <117041326+Vif15@users.noreply.github.com>
---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index 210f24d2..402d97d9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -46,6 +46,6 @@ object Box : API() {
      * Resets the grip to starting position
      */
     fun gripOut() {
-        this.grip.position = 0.18
+        this.grip.position = 0.11
     }
 }

From 335f95cbda2d33bc1492a150afbbe4d3141f6b36 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Fri, 19 Jan 2024 20:07:18 -0500
Subject: [PATCH 13/16] comment

stated that requires the box API
changed grip position
---
 .../src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt     | 2 +-
 .../org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index 402d97d9..28c27eb4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -39,7 +39,7 @@ object Box : API() {
      * Moves the grip to keep pixels in place when  [pickUpBox] the box
      */
     fun gripIn() {
-        this.grip.position = 0.23
+        this.grip.position = 0.4
     }
 
     /**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index e9792d8c..30dd607d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -12,6 +12,7 @@ import kotlin.math.sqrt
  * Moves the robot wheels based on gamepad input.
  *
  * Requires the [TriWheels] API.
+ * Requires the [Box] API.
  */
 object TeleOpMovement : Component {
     private const val ROTATION_GAIN = 0.6

From 03f27f359334d21e7f1e2921db18cebde89bb062 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Fri, 19 Jan 2024 20:09:50 -0500
Subject: [PATCH 14/16] you are welcome

fixed formatting
---
 .../firstinspires/ftc/teamcode/components/TeleOpMovement.kt    | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index 30dd607d..2603a415 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -11,8 +11,7 @@ import kotlin.math.sqrt
 /**
  * Moves the robot wheels based on gamepad input.
  *
- * Requires the [TriWheels] API.
- * Requires the [Box] API.
+ * Requires the [TriWheels] and [Box] API.
  */
 object TeleOpMovement : Component {
     private const val ROTATION_GAIN = 0.6

From 4d439b81f7dd34d36e99b8e6861c1c53c74a1314 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Fri, 19 Jan 2024 20:10:52 -0500
Subject: [PATCH 15/16] i am sorry

:(
---
 .../org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
index 2603a415..265cf8ce 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/components/TeleOpMovement.kt
@@ -11,7 +11,7 @@ import kotlin.math.sqrt
 /**
  * Moves the robot wheels based on gamepad input.
  *
- * Requires the [TriWheels] and [Box] API.
+ * Requires the [TriWheels] and [Box] APIs.
  */
 object TeleOpMovement : Component {
     private const val ROTATION_GAIN = 0.6

From 8698b38f3eabe88955d4d53c0f7122a3cbfb58f3 Mon Sep 17 00:00:00 2001
From: cadence <117321183+cadenceforney@users.noreply.github.com>
Date: Fri, 19 Jan 2024 23:06:59 -0500
Subject: [PATCH 16/16] Update Box.kt

updated to run the box movement off of one servo.

Co-Authored-By: Vifi5 <117041326+Vif15@users.noreply.github.com>
---
 .../java/org/firstinspires/ftc/teamcode/api/Box.kt   | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
index 28c27eb4..8ee8b79a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/api/Box.kt
@@ -7,15 +7,13 @@ import com.qualcomm.robotcore.hardware.Servo
  * An API for controlling the Box on the robot.
  */
 object Box : API() {
-    private lateinit var boxL: Servo
-    private lateinit var boxR: Servo
+    private lateinit var box: Servo
     private lateinit var grip: Servo
 
     override fun init(opMode: OpMode) {
         super.init(opMode)
 
-        this.boxL = this.hardwareMap.get(Servo::class.java, "boxL")
-        this.boxR = this.hardwareMap.get(Servo::class.java, "boxR")
+        this.box = this.hardwareMap.get(Servo::class.java, "box")
         this.grip = this.hardwareMap.get(Servo::class.java, "grip")
     }
 
@@ -23,16 +21,14 @@ object Box : API() {
      * Moves the box to the ground
      */
     fun dropBox() {
-        this.boxL.position = 0.4
-        this.boxR.position = 0.35
+        this.box.position = 0.5
     }
 
     /**
      * Moves box to upright position
      */
     fun pickUpBox() {
-        this.boxL.position = 0.76
-        this.boxR.position = 0.0
+        this.box.position = 1.0
     }
 
     /**