From 1edb4de772c90039f57cfe4634b314cb1a78b041 Mon Sep 17 00:00:00 2001
From: NerdyBirdy460 <111399933+NerdyBirdy460@users.noreply.github.com>
Date: Tue, 16 Jan 2024 20:41:14 -0600
Subject: [PATCH] Began helping Spencer with a simple drivetrain code for
 autonomous

---
 .../SodiStates/SodiBlueCrabDriveStatev1.java  | 23 +++++++++++++++++++
 .../TeleOp/States/SodiPizzaTeleOPState.java   |  2 +-
 2 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiBlueCrabDriveStatev1.java

diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiBlueCrabDriveStatev1.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiBlueCrabDriveStatev1.java
new file mode 100644
index 0000000..0b56e39
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/SodiStates/SodiBlueCrabDriveStatev1.java
@@ -0,0 +1,23 @@
+package org.timecrafters.CenterStage.Autonomous.SodiStates;
+
+import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class SodiBlueCrabDriveStatev1 extends CyberarmState {
+    final private CompetitionRobotV1 robot;
+
+    public SodiBlueCrabDriveStatev1() {
+        robot = new CompetitionRobotV1("Assignment");
+        robot.setup();
+    }
+    @Override
+    public void init() {
+
+    }
+
+    @Override
+    public void exec() {
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
index 2c1839e..7d9cae8 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java
@@ -97,7 +97,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
         robot.rightFront.setPower(rfPower * drivePower);
         robot.rightBack.setPower(rbPower * drivePower);
 
-        if (engine.gamepad1.left_stick_x > 0.1) {
+        if (engine.gamepad1.left_stick_x >= 0.1 || engine.gamepad1.left_stick_y >= 0.1 || engine.gamepad1.right_stick_x >= 0.1) {
             robot.leftBack.setPower(lbPower);
             robot.rightBack.setPower(rbPower);
             robot.leftFront.setPower(lfPower);