Darren Maddy then edged Adams to slip before he trapped both Chopra and Jim Troughton leg before.
Darren Maddy, who played most of his career under Whitaker's captaincy, expressed the disappointment of the players.
Skipper Iain Sutcliffe put on 80 runs with Maddy before he fell to Ian Salisbury for 72.
In reply, the visitors moved along to 303 for five with Maddy's 109 not out the highlight.
As revealed by BBC Sport on Saturday, the Worcestershire skipper will join Paul Nixon and Darren Maddy.
Vic Craven accounted for Darren Maddy straight away and Steve Kirby dismissed Foxes captain Vince Wells for 13.
But Varun Chopra (36) and Maddy laid the platform for the Bears' victory.
BBC: Darren Maddy half-century helps Warwickshire beat Essex
"I've seen Maddy when he was at Leicester before and now up at Warwickshire and he's still getting the job done, " said Richards.
Kent had to wait for further success as Darren Maddy shared a stand of 107 for Warwickshire after they followed on.
BBC: SPORT | Cricket | Counties | McLaren leaves Bears on back foot
Nevertheless, Maddy - who struck 14 boundaries - remained unbeaten and will undoubtedly have more in store for Surrey on Friday.
Darren Maddy struck a superb unbeaten century as Leicestershire capitalised on a Surrey batting collapse on day two at The Oval.
Solanki and Darren Maddy made decent enough progress, picking up sixes each before the latter was pouched at mid-on off Irfan Pathan.
But McLaren reduced them from 122-0 to 124-3 and two more wickets went down before the close despite Maddy's admirable unbeaten 115.
BBC: SPORT | Cricket | Counties | McLaren leaves Bears on back foot
Lungley reached his fifty off 94 balls before Maddy trapped him lbw.
Maddy and Ian Westwood negotiated seven overs to take Warwickshire to 14-0.
Darren Maddy (73) made his highest Championship score since his century against Northants in April and Jonathan Trott grafted for an unbeaten 62.
Maddy trapped Chris Rogers lbw to end a stand of 47 and saw Steve Stubbings edge a wide ball low to first slip.
Former West Indies captain Richards cited Warwickshire captain Darren Maddy and Surrey spin bowler Nayan Doshi as two players who had proven expertise in Twenty20 cricket.
That means there is no legal impediment to stop the likes of Solanki, Maddy and Nixon for being employed elsewhere in the winter.
But Maddy overcame a sketchy start expanded to reach 50 in the four-day format for the first time since breaking a thumb in May.
Maddy played a leading role to help former club Leicestershire win the Twenty20 Cup on two occasions, while Doshi has taken over 50 wickets in the competition.
England went in to bat as the light was failing, finishing with Nick Knight unbeaten on 14 and Darren Maddy not yet off the mark.
Clare and Charl Langeveldt, who made 24, attacked the new ball to help lift the total to 270, with Neil Carter taking 4-65 and Darren Maddy 3-46.
Westwood and Maddy again fell cheaply and although Chopra battled away for his first half-century of the summer, once he was dismissed by a Sidebottom yorker the Bears folded.
The batting of Maddy and Westwood put the team's earlier efforts into perspective and it took a good leg-side catch by Geraint Jones to separate them as Westwood went for 47.
BBC: SPORT | Cricket | Counties | McLaren leaves Bears on back foot
Maddy Davey, another Portland watch manager, said holidaymakers may not have the local knowledge of the cliffs, but even the most well-trained dogs can suddenly dart off to chase birds and scents.
If the name sounds vaguely familiar to Anglophiles, think back to Fairport contemporary Steeleye Span: Kemp is the 22-year-old daughter of two of that band's stalwart members, Maddy Prior and Rick Kemp.
When I turned 55, eight years ago, my wife, Maddy, and I stopped to talk about what might happen to each other and to our family if one of us ever needed long-term care.
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Clarke eventually fell to a slower ball from Darren Maddy, but Chris Rogers - who had earlier retired on 10 after a blow to the helmet from Neil Carter - returned to continue the onslaught.
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