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Minibot drive, began drive joystick mixing

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This commit is contained in:
NerdyBirdy460
2023-11-07 20:36:23 -06:00
parent 8b88d401a9
commit 1e09b1d683
2 changed files with 44 additions and 2 deletions
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6
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/MiniYTeleOPEngine.java
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@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.TeleOp.Engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
import org.timecrafters.CenterStage.TeleOp.States.MiniYellowTeleOPv2;
import org.timecrafters.CenterStage.TeleOp.States.YellowMinibotTeleOP;
import dev.cyberarm.engine.V2.CyberarmEngine;
@@ -11,11 +12,12 @@ import dev.cyberarm.engine.V2.CyberarmEngine;
public class MiniYTeleOPEngine extends CyberarmEngine {
private MiniYTeleOPBot robot;
@Override
@Override
public void setup() {
this.robot = new MiniYTeleOPBot();
this.robot.setup();
addState(new YellowMinibotTeleOP(robot));
addState(new MiniYellowTeleOPv2(robot));
}
}

40
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/MiniYellowTeleOPv2.java Normal file
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@@ -0,0 +1,40 @@
package org.timecrafters.CenterStage.TeleOp.States;
import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmState;
public class MiniYellowTeleOPv2 extends CyberarmState {
private final MiniYTeleOPBot robot;
private double flPower, frPower, blPower, brPower;
private float lStickY, transitPercent = lStickY / 100;
public MiniYellowTeleOPv2(MiniYTeleOPBot robot) {
this.robot = robot;
}
@Override
public void telemetry() {
engine.telemetry.addData("FL Power", flPower);
}
@Override
public void init() {
flPower = 0;
robot.flDrive.motor.setPower(flPower);
}
@Override
public void exec() {
transitPercent = -engine.gamepad1.left_stick_y * 100;
flPower = lStickY / 100;
robot.flDrive.motor.setPower(flPower);
}
}