From ae2b5dfd48eb4b75beda7f6fc5642f8446318991 Mon Sep 17 00:00:00 2001
From: Marco Petrino <marco3.14p@gmail.com>
Date: Fri, 17 Nov 2023 13:56:11 -0500
Subject: [PATCH 01/25] Inverted intake rotation.

---
 .../java/org/firstinspires/ftc/teamcode/features/ArmClaw.java   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
index 1db302817bc4..5bbaa097360e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
@@ -30,7 +30,7 @@ public int intakeCount() {
             counter += 1;
         }
         if (counter % 2 != 0) {
-            return 100;
+            return -100;
         }
         if (counter % 2 == 0) {
             return 0;

From bb3186779bfa01cc5ca2c1cebf3319cd4bc5516a Mon Sep 17 00:00:00 2001
From: Marco Petrino <marco3.14p@gmail.com>
Date: Mon, 20 Nov 2023 09:39:40 -0500
Subject: [PATCH 02/25] I made some changes after the scrimmage at Needham High
 School.  I don't know if these were already changed on Michael's computer,
 though.

---
 .../ftc/teamcode/features/AirplaneLauncher.java              | 5 ++---
 .../org/firstinspires/ftc/teamcode/features/ArmClaw.java     | 2 +-
 .../org/firstinspires/ftc/teamcode/opmodes/Waterbot.java     | 2 +-
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/AirplaneLauncher.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/AirplaneLauncher.java
index bc9247e6c465..8a3de7b03c87 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/AirplaneLauncher.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/AirplaneLauncher.java
@@ -10,17 +10,16 @@
  * <p>
  * Connections: A servo in port 4 and a controller.
  * <p>
- * Controls: Press up on the dpad to launch the plane.
+ * Controls: Press triangle to launch the plane.
  */
 public class AirplaneLauncher extends Feature implements Buildable {
     @Override
     public void build() {
-        Devices.servo4.setPosition(0.0);
+        Devices.servo3.setPosition(50.0);
     }
 
     @Override
     public void loop() {
         if (Devices.controller1.getTriangle()) Devices.servo3.setPosition(100.0);
-        if (Devices.controller1.getSquare()) Devices.servo3.setPosition(100.0);
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
index 5bbaa097360e..3c101c7d1502 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
@@ -18,6 +18,7 @@
  * All controls are in controller 2
  */
 public class ArmClaw extends Feature implements Buildable {
+    private double counter = 0;
     public void build(){
         servo0.setPosition(20);
         servo1.setPosition(80);
@@ -25,7 +26,6 @@ public void build(){
     }
     public int intakeCount() {
         motor2.setPower(0);
-        double counter = 0;
         if (Devices.controller2.getDpadDown()) {
             counter += 1;
         }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Waterbot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Waterbot.java
index 395dc73497d0..e920b9b84542 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Waterbot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Waterbot.java
@@ -32,7 +32,7 @@
 public class Waterbot extends OperationMode implements TeleOperation {
     @Override
     public void construct() {
-        registerFeature(new NativeMecanumDrivetrain(true));
+        registerFeature(new NativeMecanumDrivetrain(false));
         registerFeature(new PixelGrabber());
         registerFeature(new ActuatorFeature());
         registerFeature(new TiltableLinearSlide());

From 38301872e1c5d6bae8aac828042d07d077413e98 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 18:49:55 -0500
Subject: [PATCH 03/25] Refactor the Pages action to use multiple build steps

---
 .github/workflows/pages.yml | 83 +++++++++++++++++++++++++------------
 1 file changed, 57 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index a25a0fce3d5a..9f216539e999 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -9,29 +9,17 @@ on:
     types: [ "completed" ]
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow one concurrent deployment
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
+  # Run on pull requests to master (note that this specifies the base branch, not the branch that the PR is from)
+  pull_request:
+    branches: [ "master" ]
 
 jobs:
-  # Single deploy job since we're just deploying
-  deploy:
-    if: ${{ github.event.workflow_run.conclusion == 'success' }}
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
+  build:
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout
+      - name: Checkout repository
         uses: actions/checkout@v4
+
       - name: Build Website
         run: |
           echo -e "Running build script with Python..."
@@ -39,28 +27,71 @@ jobs:
           echo -e "Script complete."
         shell: bash
         working-directory: ./HelpPage/scripts/
+
       - name: Set up JDK
         uses: actions/setup-java@v3
         with:
           java-version: '11'
           distribution: 'temurin'
           cache: gradle
+
       - name: Build JavaDoc using Dokka
         run: |
           ./gradlew :TeamCode:dokkaHtml --no-daemon
           mv ./TeamCode/build/dokka/html ./HelpPage/opt/javadoc
+
+      - name: Upload Pages build artifact
+        uses: actions/upload-pages-artifact@v2
+        with:
+          name: github-pages-build
+          path: './HelpPage/opt'
+          retention-days: 90
+
+  deploy:
+    # Run if the Android CI build was successful or if this is a manual workflow run
+    if: ${{ github.event.workflow_run.conclusion == 'success' || github.event_name == 'workflow_dispatch' }}
+    needs: [ "build" ]
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+    permissions:
+      contents: read
+      pages: write
+      id-token: write
+    # Only allow one concurrent deployment
+    concurrency:
+      group: "pages"
+      cancel-in-progress: false
+    steps:
+      - name: Configure Pages
+        uses: actions/configure-pages@v3
+
+      - name: Download Pages build artifact
+        uses: actions/download-artifact@v2
+        with:
+          name: github-pages-build
+          path: .
+
+      - name: Extract Pages build artifact
+        run: tar -xvf artifact.tar
+
       - name: Download the latest APK
         run: |
-          mkdir -p ./HelpPage/opt/apk/bin
-          cd ./HelpPage/opt/apk/bin
+          mkdir -p ./artifact/apk/bin
+          cd ./artifact/apk/bin
           curl -LO https://github.com/XaverianTeamRobotics/FtcRobotController/releases/download/latest-ci-build/TeamCode-debug.apk
-      - name: Setup Pages
-        uses: actions/configure-pages@v3
-      - name: Upload Artifact
+
+      - name: Upload final Pages artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          # Upload final build
-          path: './HelpPage/opt'
+          name: github-pages-deploy
+          path: ./artifact
+          retention-days: 90
+
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@main
+        uses: actions/deploy-pages@v2
+        with:
+          artifact-name: github-pages-deploy

From a001b344568fdbf1636083bf9319d963edd0f19c Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 19:21:47 -0500
Subject: [PATCH 04/25] Fix the Pages build extraction

---
 .github/workflows/pages.yml | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 9f216539e999..d0292efed810 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -75,19 +75,21 @@ jobs:
           path: .
 
       - name: Extract Pages build artifact
-        run: tar -xvf artifact.tar
+        run: |
+          mkdir pages-build
+          tar -xvf artifact.tar -C pages-build
 
       - name: Download the latest APK
         run: |
-          mkdir -p ./artifact/apk/bin
-          cd ./artifact/apk/bin
+          mkdir -p ./pages-build/apk/bin
+          cd ./pages-build/apk/bin
           curl -LO https://github.com/XaverianTeamRobotics/FtcRobotController/releases/download/latest-ci-build/TeamCode-debug.apk
 
       - name: Upload final Pages artifact
         uses: actions/upload-pages-artifact@v2
         with:
           name: github-pages-deploy
-          path: ./artifact
+          path: ./pages-build
           retention-days: 90
 
       - name: Deploy to GitHub Pages

From 9a2442b8f5eda5b5e080c2ddc978cc8ef721767b Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 19:40:16 -0500
Subject: [PATCH 05/25] Reformat actions with Prettier

---
 .github/workflows/android.yml | 84 +++++++++++++++++------------------
 .github/workflows/pages.yml   | 36 +++++++--------
 2 files changed, 60 insertions(+), 60 deletions(-)

diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
index 26539d158c93..4b975be61c81 100644
--- a/.github/workflows/android.yml
+++ b/.github/workflows/android.yml
@@ -9,53 +9,53 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - name: Checkout repository
-      uses: actions/checkout@v4
-          
-    - name: Set up JDK
-      uses: actions/setup-java@v3
-      with:
-        java-version: '11'
-        distribution: 'temurin'
-        cache: gradle
-
-    - name: Build with Gradle
-      run: ./gradlew assembleDebug --scan --stacktrace --info --no-daemon -x test
-
-    - name: Upload APK
-      uses: actions/upload-artifact@v3
-      with:
-        name: TeamCode-debug.apk
-        path: TeamCode/build/outputs/apk/debug/TeamCode-debug.apk
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up JDK
+        uses: actions/setup-java@v3
+        with:
+          java-version: "11"
+          distribution: "temurin"
+          cache: "gradle"
+
+      - name: Build with Gradle
+        run: ./gradlew assembleDebug --scan --stacktrace --info --no-daemon -x test
+
+      - name: Upload APK
+        uses: actions/upload-artifact@v3
+        with:
+          name: "TeamCode-debug.apk"
+          path: "TeamCode/build/outputs/apk/debug/TeamCode-debug.apk"
 
   release:
     runs-on: ubuntu-latest
-    needs: [ 'build' ]
+    needs: ["build"]
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
     concurrency:
-      group: 'release'
+      group: "release"
       cancel-in-progress: true
 
     steps:
-    - name: Checkout repository
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Download the APK artifact
-      uses: actions/download-artifact@v3
-      with:
-        name: TeamCode-debug.apk
-
-    - name: Update the release tag
-      run: |
-        git tag -d latest-ci-build
-        git tag latest-ci-build
-        git push origin latest-ci-build --force
-
-    - name: Update the release
-      run: |
-        gh release upload latest-ci-build TeamCode-debug.apk --clobber
-        gh release edit latest-ci-build --prerelease --notes "This build was made from commit ${{ github.sha }}."
-      env:
-        GH_TOKEN: ${{ github.token }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Download the APK artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: "TeamCode-debug.apk"
+
+      - name: Update the release tag
+        run: |
+          git tag -d latest-ci-build
+          git tag latest-ci-build
+          git push origin latest-ci-build --force
+
+      - name: Update the release
+        run: |
+          gh release upload latest-ci-build TeamCode-debug.apk --clobber
+          gh release edit latest-ci-build --prerelease --notes "This build was made from commit ${{ github.sha }}."
+        env:
+          GH_TOKEN: ${{ github.token }}
diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index d0292efed810..0fe0c391297f 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -4,14 +4,15 @@ name: Deploy static content to Pages
 on:
   # Run automatically after the Android CI release finishes
   workflow_run:
-    workflows: [ "Android CI" ]
-    branches: [ "master" ]
-    types: [ "completed" ]
+    workflows: ["Android CI"]
+    branches: ["master"]
+    types: ["completed"]
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
-  # Run on pull requests to master (note that this specifies the base branch, not the branch that the PR is from)
+  # Run on pull requests to master
   pull_request:
-    branches: [ "master" ]
+    # Note that this specifies the target branch, not the branch that the PR is from
+    branches: ["master"]
 
 jobs:
   build:
@@ -20,20 +21,20 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
 
-      - name: Build Website
+      - name: Build website
         run: |
           echo -e "Running build script with Python..."
           python deploy.py
           echo -e "Script complete."
-        shell: bash
+        shell: "bash"
         working-directory: ./HelpPage/scripts/
 
       - name: Set up JDK
         uses: actions/setup-java@v3
         with:
-          java-version: '11'
-          distribution: 'temurin'
-          cache: gradle
+          java-version: "11"
+          distribution: "temurin"
+          cache: "gradle"
 
       - name: Build JavaDoc using Dokka
         run: |
@@ -43,14 +44,14 @@ jobs:
       - name: Upload Pages build artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          name: github-pages-build
-          path: './HelpPage/opt'
+          name: "github-pages-build"
+          path: "./HelpPage/opt"
           retention-days: 90
 
   deploy:
     # Run if the Android CI build was successful or if this is a manual workflow run
     if: ${{ github.event.workflow_run.conclusion == 'success' || github.event_name == 'workflow_dispatch' }}
-    needs: [ "build" ]
+    needs: ["build"]
     runs-on: ubuntu-latest
     environment:
       name: github-pages
@@ -71,8 +72,7 @@ jobs:
       - name: Download Pages build artifact
         uses: actions/download-artifact@v2
         with:
-          name: github-pages-build
-          path: .
+          name: "github-pages-build"
 
       - name: Extract Pages build artifact
         run: |
@@ -88,12 +88,12 @@ jobs:
       - name: Upload final Pages artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          name: github-pages-deploy
-          path: ./pages-build
+          name: "github-pages-deploy"
+          path: "./pages-build"
           retention-days: 90
 
       - name: Deploy to GitHub Pages
         id: deployment
         uses: actions/deploy-pages@v2
         with:
-          artifact-name: github-pages-deploy
+          artifact_name: "github-pages-deploy"

From 5e90e1518e78d60b1d437bdef6e846bd1d917539 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 19:52:57 -0500
Subject: [PATCH 06/25] Switch deployment script to bash

No important Python features are used here so it makes more sense to use bash.
---
 .github/workflows/pages.yml | 10 ++-----
 HelpPage/scripts/README.md  |  2 --
 HelpPage/scripts/build.sh   | 31 +++++++++++++++++++++
 HelpPage/scripts/deploy.py  | 55 -------------------------------------
 4 files changed, 34 insertions(+), 64 deletions(-)
 delete mode 100644 HelpPage/scripts/README.md
 create mode 100644 HelpPage/scripts/build.sh
 delete mode 100644 HelpPage/scripts/deploy.py

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 0fe0c391297f..5d14ec85dc2d 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -22,11 +22,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Build website
-        run: |
-          echo -e "Running build script with Python..."
-          python deploy.py
-          echo -e "Script complete."
-        shell: "bash"
+        run: build.sh
         working-directory: ./HelpPage/scripts/
 
       - name: Set up JDK
@@ -39,13 +35,13 @@ jobs:
       - name: Build JavaDoc using Dokka
         run: |
           ./gradlew :TeamCode:dokkaHtml --no-daemon
-          mv ./TeamCode/build/dokka/html ./HelpPage/opt/javadoc
+          mv ./TeamCode/build/dokka/html ./HelpPage/build/javadoc
 
       - name: Upload Pages build artifact
         uses: actions/upload-pages-artifact@v2
         with:
           name: "github-pages-build"
-          path: "./HelpPage/opt"
+          path: "./HelpPage/build"
           retention-days: 90
 
   deploy:
diff --git a/HelpPage/scripts/README.md b/HelpPage/scripts/README.md
deleted file mode 100644
index 12f4dd5c4ffc..000000000000
--- a/HelpPage/scripts/README.md
+++ /dev/null
@@ -1,2 +0,0 @@
-# Running Scripts
-Please create a virtualenv in this directory and run the scripts via the corresponding IntelliJ run action, for stability. I don't trust Python with the system env. (Also, it helps a bit with dependency mgmt).
\ No newline at end of file
diff --git a/HelpPage/scripts/build.sh b/HelpPage/scripts/build.sh
new file mode 100644
index 000000000000..63846c34500b
--- /dev/null
+++ b/HelpPage/scripts/build.sh
@@ -0,0 +1,31 @@
+#!/bin/sh
+
+set -eu
+
+echo Running build...
+rm -rf ../build
+
+echo Building Docusaurus...
+cd ../doc
+npm install
+npm run build
+echo Docusaurus build complete.
+
+echo Building imgutil...
+cd ../imgutil
+npm install
+npm run build
+echo Imgutil build complete.
+
+echo "Bundling..."
+cd ..
+mkdir output
+# Copy docusaurus build to final output
+cp -R ./doc/build ./build
+# Copy imgutil build to final output
+cp -R ./imgutil/dist ./build/imgutil
+# Copy static files to final output
+cp -R ./apk ./build/apk
+cp -R ./legacy-apk ./build/legacy-apk
+
+echo Build complete.
diff --git a/HelpPage/scripts/deploy.py b/HelpPage/scripts/deploy.py
deleted file mode 100644
index 748aeeb6d1a4..000000000000
--- a/HelpPage/scripts/deploy.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import os
-import shutil
-
-
-def run():
-
-    print("Running build...")
-    print("Building Docusaurus...")
-
-    # Build docusaurus site
-    os.system("cd ../doc && npm i && npm run build")
-
-    print("Docusaurus build complete.")
-
-    # Prep build output
-    maybe_rmdir("../opt")
-
-    print("Building imgutil...")
-
-    # Build imgutil site
-    os.system("cd ../imgutil && npm i && npm run build")
-
-    print("Imgutil build complete.")
-
-    print("Bundling...")
-
-    # Copy docusaurus build to final output
-    shutil.copytree("../doc/build", "../opt")
-
-    # Copy imgutil build to final output
-    maybe_rmdir("../opt/imgutil")
-    shutil.copytree("../imgutil/dist", "../opt/imgutil")
-
-    # Copy static files to final output
-    maybe_rmdir("../opt/apk")
-    shutil.copytree("../apk", "../opt/apk")
-    maybe_rmdir("../opt/legacy-apk")
-    shutil.copytree("../legacy-apk", "../opt/legacy-apk")
-
-    print("Cleaning up artifacts...")
-
-    # Delete extra build artifacts
-    maybe_rmdir("../doc/build")
-
-    print("Build complete.")
-
-    exit(0)
-
-
-def maybe_rmdir(pth):
-    if os.path.exists(pth):
-        shutil.rmtree(pth)
-
-
-run()

From f1a73124f122c6707e24ce42c0892f38c24c9dbd Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 00:56:25 +0000
Subject: [PATCH 07/25] Fix the Pages build script run

---
 .github/workflows/pages.yml | 2 +-
 HelpPage/scripts/build.sh   | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 mode change 100644 => 100755 HelpPage/scripts/build.sh

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 5d14ec85dc2d..93d8ac7c233d 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -22,7 +22,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Build website
-        run: build.sh
+        run: ./build.sh
         working-directory: ./HelpPage/scripts/
 
       - name: Set up JDK
diff --git a/HelpPage/scripts/build.sh b/HelpPage/scripts/build.sh
old mode 100644
new mode 100755

From da00e66472681be227f4380854c069e3bd7eebd1 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 01:00:49 +0000
Subject: [PATCH 08/25] Move instead of copy Pages build results

---
 HelpPage/scripts/build.sh | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/HelpPage/scripts/build.sh b/HelpPage/scripts/build.sh
index 63846c34500b..2e86e7184f13 100755
--- a/HelpPage/scripts/build.sh
+++ b/HelpPage/scripts/build.sh
@@ -20,12 +20,12 @@ echo Imgutil build complete.
 echo "Bundling..."
 cd ..
 mkdir output
-# Copy docusaurus build to final output
-cp -R ./doc/build ./build
-# Copy imgutil build to final output
-cp -R ./imgutil/dist ./build/imgutil
-# Copy static files to final output
-cp -R ./apk ./build/apk
-cp -R ./legacy-apk ./build/legacy-apk
+# Move docusaurus build to final output
+mv ./doc/build ./build
+# Move imgutil build to final output
+mv ./imgutil/dist ./build/imgutil
+# Move static files to final output
+mv ./apk ./build/apk
+mv ./legacy-apk ./build/legacy-apk
 
 echo Build complete.

From df831027c215a78a237fd8bce5fa893717f0338a Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 20:15:39 -0500
Subject: [PATCH 09/25] Update workflow steps conditions

---
 .github/workflows/pages.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 93d8ac7c233d..52be87578503 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -16,6 +16,8 @@ on:
 
 jobs:
   build:
+    # Run if the Android CI build was successful, on PRs from docs/ branches, or if this is a manual workflow run
+    if: ${{ github.event.workflow_run.conclusion == 'success' || sstartsWith(github.head_ref, 'docs/') || github.event_name == 'workflow_dispatch' }}
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository
@@ -45,8 +47,8 @@ jobs:
           retention-days: 90
 
   deploy:
-    # Run if the Android CI build was successful or if this is a manual workflow run
-    if: ${{ github.event.workflow_run.conclusion == 'success' || github.event_name == 'workflow_dispatch' }}
+    # Run only on master branch and not on pull requests
+    if: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' }}
     needs: ["build"]
     runs-on: ubuntu-latest
     environment:

From 24bb08b858f96710de34e330f977b7cc3e568d7a Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 20:18:36 -0500
Subject: [PATCH 10/25] Fix typo in if

---
 .github/workflows/pages.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 52be87578503..5be09955d1d9 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -17,7 +17,7 @@ on:
 jobs:
   build:
     # Run if the Android CI build was successful, on PRs from docs/ branches, or if this is a manual workflow run
-    if: ${{ github.event.workflow_run.conclusion == 'success' || sstartsWith(github.head_ref, 'docs/') || github.event_name == 'workflow_dispatch' }}
+    if: ${{ github.event.workflow_run.conclusion == 'success' || startsWith(github.head_ref, 'docs/') || github.event_name == 'workflow_dispatch' }}
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository
@@ -47,7 +47,7 @@ jobs:
           retention-days: 90
 
   deploy:
-    # Run only on master branch and not on pull requests
+    # Only run deployment from the master branch and not on pull requests
     if: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' }}
     needs: ["build"]
     runs-on: ubuntu-latest

From a60f08feb09b1c9c2535feb4ed28c0c252a1afab Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 21:07:19 -0500
Subject: [PATCH 11/25] Create test deploy job

---
 .github/workflows/pages.yml | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 5be09955d1d9..bc0d0a6e1c8f 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -95,3 +95,27 @@ jobs:
         uses: actions/deploy-pages@v2
         with:
           artifact_name: "github-pages-deploy"
+
+  test-deploy:
+    if: ${{ github.event_name == 'pull_request' }}
+    needs: ["build"]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download Pages build artifact
+        uses: actions/download-artifact@v2
+        with:
+          name: "github-pages-build"
+
+      - name: Extract Pages build artifact
+        run: |
+          mkdir pages-build
+          tar -xvf artifact.tar -C pages-build
+            - name: Cloudflare Pages GitHub Action
+
+      - name: Upload build to Cloudflare Pages
+        uses: cloudflare/pages-action@v1
+        with:
+          apiToken: ${{ secrets.CLOUDFLARE_API_TOKEN }}
+          accountId: ${{ secrets.CLOUDFLARE_ACCOUNT_ID }}
+          projectName: "xbhs-robotics-docs"
+          directory: "pages-build"

From ed98ef440fe811a1b0809091718d42ae39a00247 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 21:47:01 -0500
Subject: [PATCH 12/25] Add PR comment to the Pages test deployment

---
 .github/workflows/pages.yml | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index bc0d0a6e1c8f..f83012cf8caf 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -110,12 +110,21 @@ jobs:
         run: |
           mkdir pages-build
           tar -xvf artifact.tar -C pages-build
-            - name: Cloudflare Pages GitHub Action
 
       - name: Upload build to Cloudflare Pages
+        id: test-deployment
         uses: cloudflare/pages-action@v1
         with:
           apiToken: ${{ secrets.CLOUDFLARE_API_TOKEN }}
           accountId: ${{ secrets.CLOUDFLARE_ACCOUNT_ID }}
           projectName: "xbhs-robotics-docs"
           directory: "pages-build"
+
+      - name: Add comment with test deployment URL
+        run: >
+          gh pr comment ${{ github.event.number }}
+          --repo ${{ github.repository }}
+          --body "Your docs changes were built successfully!
+          View a preview of them at ${{ steps.test-deployment.outputs.url }}"
+        env:
+          GH_TOKEN: ${{ github.token }}

From 0b4f8e8505e3683a14710b86243543b32b00f762 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Tue, 21 Nov 2023 22:35:15 -0500
Subject: [PATCH 13/25] Remove hardcoded robotics.xbhs.net links

This should make the header links work in both production and test deployments.
---
 HelpPage/doc/docusaurus.config.js | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/HelpPage/doc/docusaurus.config.js b/HelpPage/doc/docusaurus.config.js
index 502f26772e8e..085770d2da67 100644
--- a/HelpPage/doc/docusaurus.config.js
+++ b/HelpPage/doc/docusaurus.config.js
@@ -111,15 +111,15 @@ const config = {
             position: "right",
             items: [
               {
-                href: "https://robotics.xbhs.net/apk",
+                href: "/apk/",
                 label: "Flash Robot Controller APK"
               },
               {
-                href: "https://robotics.xbhs.net/legacy-apk",
+                href: "/legacy-apk/",
                 label: "Download Driver Station APK"
               },
               {
-                href: "https://robotics.xbhs.net/imgutil",
+                href: "/imgutil/",
                 label: "Upload Images to robotics.xbhs.com"
               },
             ]
@@ -130,15 +130,15 @@ const config = {
             position: "right",
             items: [
               {
-                href: "https://robotics.xbhs.net/javadoc",
+                href: "/javadoc/",
                 label: "Javadoc (all)"
               },
               {
-                href: "https://robotics.xbhs.net/javadoc/-team-code/org.firstinspires.ftc.teamcode.features/index.html",
+                href: "/javadoc/-team-code/org.firstinspires.ftc.teamcode.features/index.html",
                 label: "Javadoc (features)"
               },
               {
-                href: "https://robotics.xbhs.net/javadoc/-team-code/org.firstinspires.ftc.teamcode.opmodes/index.html",
+                href: "/javadoc/-team-code/org.firstinspires.ftc.teamcode.opmodes/index.html",
                 label: "Javadoc (opmodes)"
               },
             ]

From 8888592c83d186aa52af078e4c5cae66ae0d847b Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 11:17:15 -0500
Subject: [PATCH 14/25] Always do a test deployment but only comment on PRs

---
 .github/workflows/pages.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index f83012cf8caf..a9a978d5bc02 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -97,7 +97,6 @@ jobs:
           artifact_name: "github-pages-deploy"
 
   test-deploy:
-    if: ${{ github.event_name == 'pull_request' }}
     needs: ["build"]
     runs-on: ubuntu-latest
     steps:
@@ -121,6 +120,7 @@ jobs:
           directory: "pages-build"
 
       - name: Add comment with test deployment URL
+        if: ${{ github.event_name == 'pull_request' }}
         run: >
           gh pr comment ${{ github.event.number }}
           --repo ${{ github.repository }}

From bf07e063ae93a5858e95b43ba72733c2cf13a117 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 11:52:49 -0500
Subject: [PATCH 15/25] Add concurrency to test-deploy

---
 .github/workflows/pages.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index a9a978d5bc02..d796b193fc61 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -61,7 +61,7 @@ jobs:
       id-token: write
     # Only allow one concurrent deployment
     concurrency:
-      group: "pages"
+      group: "pages-${{ github.job }}"
       cancel-in-progress: false
     steps:
       - name: Configure Pages
@@ -99,6 +99,10 @@ jobs:
   test-deploy:
     needs: ["build"]
     runs-on: ubuntu-latest
+    # Only allow one concurrent deployment
+    concurrency:
+      group: "pages-${{ github.job }}"
+      cancel-in-progress: false
     steps:
       - name: Download Pages build artifact
         uses: actions/download-artifact@v2

From 128127192e6e942ec24b5127458f3dcfd2d70445 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 12:45:12 -0500
Subject: [PATCH 16/25] Revert the concurrency for test-deploy

Actually, this doesn't work as expected, since it causes queued deploys to be skipped.
---
 .github/workflows/pages.yml | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index d796b193fc61..a9a978d5bc02 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -61,7 +61,7 @@ jobs:
       id-token: write
     # Only allow one concurrent deployment
     concurrency:
-      group: "pages-${{ github.job }}"
+      group: "pages"
       cancel-in-progress: false
     steps:
       - name: Configure Pages
@@ -99,10 +99,6 @@ jobs:
   test-deploy:
     needs: ["build"]
     runs-on: ubuntu-latest
-    # Only allow one concurrent deployment
-    concurrency:
-      group: "pages-${{ github.job }}"
-      cancel-in-progress: false
     steps:
       - name: Download Pages build artifact
         uses: actions/download-artifact@v2

From ad3f1c4329729d6f68d6890823028f7fadd64a2d Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 13:18:42 -0500
Subject: [PATCH 17/25] Some YAML updates

Why is YAML such a weird format? The strings and arrays are so strange.
---
 .github/dependabot.yml        | 30 ++++++++++++----------
 .github/workflows/android.yml | 19 +++++++-------
 .github/workflows/pages.yml   | 48 +++++++++++++++++++++--------------
 3 files changed, 56 insertions(+), 41 deletions(-)

diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 112e0de1cdb4..25589311fe96 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -1,21 +1,25 @@
 version: 2
 updates:
-  - package-ecosystem: "github-actions"
-    directory: "/"
+  - package-ecosystem: github-actions
+    directory: /
     schedule:
-      interval: "daily"
+      interval: daily
     allow:
-      - dependency-name: "*"
-        dependency-type: "all"
-    assignees: ["MatthewL246", "michaell4438"]
-    open-pull-requests-limit: 10
+      - dependency-name: '*'
+        dependency-type: all
+    assignees:
+      - MatthewL246
+      - michaell4438
 
-  - package-ecosystem: "gradle"
-    directory: "/"
+    open-pull-requests-limit: 10
+  - package-ecosystem: gradle
+    directory: /
     schedule:
-      interval: "daily"
+      interval: daily
     allow:
-      - dependency-name: "*"
-        dependency-type: "all"
-    assignees: ["MatthewL246", "michaell4438"]
+      - dependency-name: '*'
+        dependency-type: all
+    assignees:
+      - MatthewL246
+      - michaell4438
     open-pull-requests-limit: 10
diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
index 4b975be61c81..a6eb6b819aa9 100644
--- a/.github/workflows/android.yml
+++ b/.github/workflows/android.yml
@@ -15,9 +15,9 @@ jobs:
       - name: Set up JDK
         uses: actions/setup-java@v3
         with:
-          java-version: "11"
-          distribution: "temurin"
-          cache: "gradle"
+          java-version: 11
+          distribution: temurin
+          cache: gradle
 
       - name: Build with Gradle
         run: ./gradlew assembleDebug --scan --stacktrace --info --no-daemon -x test
@@ -25,16 +25,17 @@ jobs:
       - name: Upload APK
         uses: actions/upload-artifact@v3
         with:
-          name: "TeamCode-debug.apk"
-          path: "TeamCode/build/outputs/apk/debug/TeamCode-debug.apk"
+          name: TeamCode-debug.apk
+          path: TeamCode/build/outputs/apk/debug/TeamCode-debug.apk
 
   release:
     runs-on: ubuntu-latest
-    needs: ["build"]
+    needs:
+      - build
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
     concurrency:
-      group: "release"
-      cancel-in-progress: true
+      group: release
+      cancel-in-progress: false
 
     steps:
       - name: Checkout repository
@@ -45,7 +46,7 @@ jobs:
       - name: Download the APK artifact
         uses: actions/download-artifact@v3
         with:
-          name: "TeamCode-debug.apk"
+          name: TeamCode-debug.apk
 
       - name: Update the release tag
         run: |
diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index a9a978d5bc02..0ca6d9e65ba8 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -1,24 +1,30 @@
 # Simple workflow for deploying static content to GitHub Pages
 name: Deploy static content to Pages
 
+# Before changing any of these workflow triggers, make sure you understand the if statements for each of the jobs
 on:
   # Run automatically after the Android CI release finishes
   workflow_run:
-    workflows: ["Android CI"]
-    branches: ["master"]
-    types: ["completed"]
+    workflows:
+      - Android CI
+    branches:
+      - master
+    types:
+      - completed
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
   # Run on pull requests to master
   pull_request:
     # Note that this specifies the target branch, not the branch that the PR is from
-    branches: ["master"]
+    branches:
+      - master
 
 jobs:
   build:
     # Run if the Android CI build was successful, on PRs from docs/ branches, or if this is a manual workflow run
     if: ${{ github.event.workflow_run.conclusion == 'success' || startsWith(github.head_ref, 'docs/') || github.event_name == 'workflow_dispatch' }}
     runs-on: ubuntu-latest
+
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -30,9 +36,9 @@ jobs:
       - name: Set up JDK
         uses: actions/setup-java@v3
         with:
-          java-version: "11"
-          distribution: "temurin"
-          cache: "gradle"
+          java-version: 11
+          distribution: temurin
+          cache: gradle
 
       - name: Build JavaDoc using Dokka
         run: |
@@ -42,14 +48,15 @@ jobs:
       - name: Upload Pages build artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          name: "github-pages-build"
-          path: "./HelpPage/build"
+          name: github-pages-build
+          path: ./HelpPage/build
           retention-days: 90
 
   deploy:
     # Only run deployment from the master branch and not on pull requests
     if: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' }}
-    needs: ["build"]
+    needs:
+      - build
     runs-on: ubuntu-latest
     environment:
       name: github-pages
@@ -61,8 +68,9 @@ jobs:
       id-token: write
     # Only allow one concurrent deployment
     concurrency:
-      group: "pages"
+      group: pages
       cancel-in-progress: false
+
     steps:
       - name: Configure Pages
         uses: actions/configure-pages@v3
@@ -70,7 +78,7 @@ jobs:
       - name: Download Pages build artifact
         uses: actions/download-artifact@v2
         with:
-          name: "github-pages-build"
+          name: github-pages-build
 
       - name: Extract Pages build artifact
         run: |
@@ -86,24 +94,26 @@ jobs:
       - name: Upload final Pages artifact
         uses: actions/upload-pages-artifact@v2
         with:
-          name: "github-pages-deploy"
-          path: "./pages-build"
+          name: github-pages-deploy
+          path: ./pages-build
           retention-days: 90
 
       - name: Deploy to GitHub Pages
         id: deployment
         uses: actions/deploy-pages@v2
         with:
-          artifact_name: "github-pages-deploy"
+          artifact_name: github-pages-deploy
 
   test-deploy:
-    needs: ["build"]
+    needs:
+      - build
     runs-on: ubuntu-latest
+
     steps:
       - name: Download Pages build artifact
         uses: actions/download-artifact@v2
         with:
-          name: "github-pages-build"
+          name: github-pages-build
 
       - name: Extract Pages build artifact
         run: |
@@ -116,8 +126,8 @@ jobs:
         with:
           apiToken: ${{ secrets.CLOUDFLARE_API_TOKEN }}
           accountId: ${{ secrets.CLOUDFLARE_ACCOUNT_ID }}
-          projectName: "xbhs-robotics-docs"
-          directory: "pages-build"
+          projectName: xbhs-robotics-docs
+          directory: pages-build
 
       - name: Add comment with test deployment URL
         if: ${{ github.event_name == 'pull_request' }}

From 059e9bd322b9aba6f564cb6ab3f0d7b576f3fd0e Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 13:34:53 -0500
Subject: [PATCH 18/25] Fix whitespace lol

---
 .github/dependabot.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 25589311fe96..0a1869338dfa 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -10,8 +10,8 @@ updates:
     assignees:
       - MatthewL246
       - michaell4438
-
     open-pull-requests-limit: 10
+
   - package-ecosystem: gradle
     directory: /
     schedule:

From 9d4f56db0000d49ea636375ba98aa918d2a2a6ad Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Wed, 22 Nov 2023 13:44:00 -0500
Subject: [PATCH 19/25] Add concurrency per branch to test-deploy

---
 .github/workflows/pages.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 0ca6d9e65ba8..c70735841782 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -68,7 +68,7 @@ jobs:
       id-token: write
     # Only allow one concurrent deployment
     concurrency:
-      group: pages
+      group: pages-deploy
       cancel-in-progress: false
 
     steps:
@@ -108,6 +108,10 @@ jobs:
     needs:
       - build
     runs-on: ubuntu-latest
+    # Only allow one concurrent test deployment per branch
+    concurrency:
+      group: pages-test-deploy-${{ github.ref }}
+      cancel-in-progress: true
 
     steps:
       - name: Download Pages build artifact

From 1da34d80e7b0b3a932fd87bbcc8c8a5e23a6c9f0 Mon Sep 17 00:00:00 2001
From: Marco Petrino <marco3.14p@gmail.com>
Date: Thu, 23 Nov 2023 10:38:07 -0500
Subject: [PATCH 20/25] I made edits to how the grabber and claw mechanism
 operate.

---
 .../ftc/teamcode/features/ArmClaw.java        | 93 +++++++++++++------
 1 file changed, 66 insertions(+), 27 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
index 3c101c7d1502..f1f88dc7e8be 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/features/ArmClaw.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.features;
 
-import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.motor2;
-import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.motor6;
+import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.motor0;
 import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.servo0;//this is the left grabber
 import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.servo1;//this is the right grabber
 import static org.firstinspires.ftc.teamcode.internals.hardware.Devices.servo2;//this is the servo for the claw mechanism
@@ -18,45 +17,85 @@
  * All controls are in controller 2
  */
 public class ArmClaw extends Feature implements Buildable {
-    private double counter = 0;
+    private double counter1 = 0; //intake
+    private double counter2 = 0; //left servo
+    private double counter3 = 0; //right servo
+    private boolean dpadPressed1 = false; //intake
+    private boolean dpadPressed2 = false; //left servo
+    private boolean dpadPressed3 = false; //right servo
     public void build(){
-        servo0.setPosition(20);
-        servo1.setPosition(80);
-        servo2.setPosition(0);
+        servo0.setPosition(20); //lower the number for the servos to move closer and vice versa
+        servo1.setPosition(80); //raise the number for the servos to move closer and vice versa
+        servo2.setPosition(33);
+        motor0.setPower(0);
     }
+    /**
+     *this method counts how many times Dpad Down has been pressed so that we can use it to turn the
+     *intake on and off
+     **/
     public int intakeCount() {
-        motor2.setPower(0);
-        if (Devices.controller2.getDpadDown()) {
-            counter += 1;
+        if (Devices.controller2.getDpadDown() && !dpadPressed1) {
+            counter1 += 1;
+            dpadPressed1 = true;
         }
-        if (counter % 2 != 0) {
+        else if (!Devices.controller2.getDpadDown()) {
+            dpadPressed1 = false;
+        }
+        if (counter1 % 2 != 0) {
             return -100;
         }
-        if (counter % 2 == 0) {
-            return 0;
-        } else {
+        else {
             return 0;
         }
     }
+
+    /**
+     * this method counts how many times Dpad Left has been pressed so that we can use it to open
+     * and close the left servo (left grabber)
+     */
+    public int leftButtonPressedCount() {
+        if (Devices.controller2.getDpadLeft() && !dpadPressed2) {
+            counter2 += 1;
+            dpadPressed2 = true;
+        }
+        else if (!Devices.controller2.getDpadLeft()) {
+            dpadPressed2 = false;
+        }
+        if (counter2 % 2 != 0) {
+            return 5;
+        }
+        else {
+            return 15;
+        }
+    }
+
+    /**
+     * this method counts how many times Dpad Right has been pressed so that we can use it to open
+     * and close the right servo (right grabber)
+     */
+    public int rightButtonPressedCount() {
+        if (Devices.controller2.getDpadRight() && !dpadPressed3) {
+            counter3 += 1;
+            dpadPressed3 = true;
+        }
+        else if (!Devices.controller2.getDpadRight()) {
+            dpadPressed3 = false;
+        }
+        if (counter3 % 2 != 0) {
+            return 100;
+        }
+        else {
+            return 85;
+        }
+    }
     public void loop() {
         double motorPower = (Devices.controller2.getRightTrigger() - Devices.controller2.getLeftTrigger());
         Devices.motor0.setPower(motorPower);
-        Devices.motor1.setPower(-motorPower);
+        Devices.motor1.setPower(motorPower);
 
         //the motors must move in opposite directions
-        if (Devices.controller2.getDpadLeft()) {
-            servo0.setPosition(5);
-            //closes the left grabber
-        }
-        if (Devices.controller2.getDpadRight()) {
-            servo1.setPosition(100);
-            //closes the right grabber
-        }
-        if (Devices.controller2.getDpadUp()) {
-            servo0.setPosition(20);
-            servo1.setPosition(80);
-            //opens both grabbers
-        }
+        servo0.setPosition(leftButtonPressedCount()); //this operates the left grabber
+        servo1.setPosition(rightButtonPressedCount()); //this operates the right grabber
         if (Devices.controller2.getLeftBumper()) {
             servo2.setPosition(33);
             //this will rotate the entire claw mechanism so that it is in line with the backboard

From cdccaf26ab85844c8d7fb74a2813214312bf56a4 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Fri, 24 Nov 2023 10:22:31 +0000
Subject: [PATCH 21/25] Bump org.jetbrains.kotlin:kotlin-reflect from 1.9.20 to
 1.9.21

Bumps [org.jetbrains.kotlin:kotlin-reflect](https://github.com/JetBrains/kotlin) from 1.9.20 to 1.9.21.
- [Release notes](https://github.com/JetBrains/kotlin/releases)
- [Changelog](https://github.com/JetBrains/kotlin/blob/master/ChangeLog.md)
- [Commits](https://github.com/JetBrains/kotlin/compare/v1.9.20...v1.9.21)

---
updated-dependencies:
- dependency-name: org.jetbrains.kotlin:kotlin-reflect
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 TeamCode/build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 30c25c54eca1..c606df1e868d 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -52,7 +52,7 @@ dependencies {
     implementation 'org.jetbrains.kotlinx:kotlinx-coroutines-core:1.7.3'
     implementation 'org.jetbrains.kotlinx:kotlinx-coroutines-android:1.7.3'
     implementation 'org.openftc:easyopencv:1.7.0'
-    implementation "org.jetbrains.kotlin:kotlin-reflect:1.9.20"
+    implementation "org.jetbrains.kotlin:kotlin-reflect:1.9.21"
     implementation 'org.apache.commons:commons-math3:3.6.1'
     implementation 'com.acmerobotics.roadrunner:core:0.5.5'
     dokkaPlugin "org.jetbrains.dokka:kotlin-as-java-plugin:1.9.10"

From 0e74956c1557d550bc6dfe20688de7a3bd5ac626 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Fri, 24 Nov 2023 10:27:03 +0000
Subject: [PATCH 22/25] Bump kotlin_version from 1.9.20 to 1.9.21

Bumps `kotlin_version` from 1.9.20 to 1.9.21.

Updates `org.jetbrains.kotlin:kotlin-gradle-plugin` from 1.9.20 to 1.9.21
- [Release notes](https://github.com/JetBrains/kotlin/releases)
- [Changelog](https://github.com/JetBrains/kotlin/blob/master/ChangeLog.md)
- [Commits](https://github.com/JetBrains/kotlin/compare/v1.9.20...v1.9.21)

Updates `org.jetbrains.kotlin:kotlin-stdlib-jdk7` from 1.9.20 to 1.9.21
- [Release notes](https://github.com/JetBrains/kotlin/releases)
- [Changelog](https://github.com/JetBrains/kotlin/blob/master/ChangeLog.md)
- [Commits](https://github.com/JetBrains/kotlin/compare/v1.9.20...v1.9.21)

---
updated-dependencies:
- dependency-name: org.jetbrains.kotlin:kotlin-gradle-plugin
  dependency-type: direct:production
  update-type: version-update:semver-patch
- dependency-name: org.jetbrains.kotlin:kotlin-stdlib-jdk7
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index f98232786931..ae2d1c915a47 100644
--- a/build.gradle
+++ b/build.gradle
@@ -5,7 +5,7 @@
  */
 
 buildscript {
-    ext.kotlin_version = '1.9.20'
+    ext.kotlin_version = '1.9.21'
     repositories {
         mavenCentral()
         google()

From 764ad7986cab35c3d14187b79006a3b8c136164c Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Fri, 24 Nov 2023 10:29:24 +0000
Subject: [PATCH 23/25] Bump org.jetbrains.kotlin.plugin.serialization from
 1.9.20 to 1.9.21

Bumps [org.jetbrains.kotlin.plugin.serialization](https://github.com/JetBrains/kotlin) from 1.9.20 to 1.9.21.
- [Release notes](https://github.com/JetBrains/kotlin/releases)
- [Changelog](https://github.com/JetBrains/kotlin/blob/master/ChangeLog.md)
- [Commits](https://github.com/JetBrains/kotlin/compare/v1.9.20...v1.9.21)

---
updated-dependencies:
- dependency-name: org.jetbrains.kotlin.plugin.serialization
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 TeamCode/build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index 30c25c54eca1..4338d5aedddf 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -11,7 +11,7 @@
 
 // Custom definitions may go here
 plugins {
-    id 'org.jetbrains.kotlin.plugin.serialization' version '1.9.20'
+    id 'org.jetbrains.kotlin.plugin.serialization' version '1.9.21'
 
     id 'com.github.johnrengelman.shadow' version '7.1.2'
 

From 2f05bd866ce2e3054da58b1de1f923c0a0376ee7 Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Fri, 24 Nov 2023 16:30:27 -0500
Subject: [PATCH 24/25] Dependabot

---
 .github/workflows/pages.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index c70735841782..62741d409e72 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -46,7 +46,7 @@ jobs:
           mv ./TeamCode/build/dokka/html ./HelpPage/build/javadoc
 
       - name: Upload Pages build artifact
-        uses: actions/upload-pages-artifact@v2
+        uses: actions/upload-pages-artifact@v3
         with:
           name: github-pages-build
           path: ./HelpPage/build
@@ -76,7 +76,7 @@ jobs:
         uses: actions/configure-pages@v3
 
       - name: Download Pages build artifact
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           name: github-pages-build
 

From a0e9e341e74ce52a593f7e1e4c0399eb437b8afe Mon Sep 17 00:00:00 2001
From: Matthew Lopez <73856503+MatthewL246@users.noreply.github.com>
Date: Mon, 27 Nov 2023 13:46:22 -0500
Subject: [PATCH 25/25] Fix the action versions I accidentally messed up

---
 .github/workflows/pages.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index 62741d409e72..ac83a6e0a262 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -46,7 +46,7 @@ jobs:
           mv ./TeamCode/build/dokka/html ./HelpPage/build/javadoc
 
       - name: Upload Pages build artifact
-        uses: actions/upload-pages-artifact@v3
+        uses: actions/upload-pages-artifact@v2
         with:
           name: github-pages-build
           path: ./HelpPage/build
@@ -115,7 +115,7 @@ jobs:
 
     steps:
       - name: Download Pages build artifact
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           name: github-pages-build