RedCrab: Fixed arm float position not working, claw wrist adjustments

TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java

@@ -253,7 +253,7 @@ public class RedCrabMinibot {
         RedCrabMinibot.CLAW_ARM_POSITION_TOLERANCE = config.variable("Robot", "ClawArm_Tuning", "tolerance").value();
         RedCrabMinibot.CLAW_ARM_STOW_ANGLE = config.variable("Robot", "ClawArm_Tuning", "stow_angle").value();
         RedCrabMinibot.CLAW_ARM_DEPOSIT_ANGLE = config.variable("Robot", "ClawArm_Tuning", "deposit_angle").value();
-        RedCrabMinibot.CLAW_ARM_COLLECT_FLOAT_ANGLE = config.variable("Robot", "ClawArm_Tuning", "collect_angle").value();
+        RedCrabMinibot.CLAW_ARM_COLLECT_FLOAT_ANGLE = config.variable("Robot", "ClawArm_Tuning", "collect_float_angle").value();
         RedCrabMinibot.CLAW_ARM_COLLECT_ANGLE = config.variable("Robot", "ClawArm_Tuning", "collect_angle").value();
 
         RedCrabMinibot.CLAW_ARM_MOTOR_GEAR_RATIO = config.variable("Robot", "ClawArm_Tuning", "gear_ratio").value();

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceBlue.java

@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmControlTask;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
@@ -13,7 +14,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville audience blue")
+@Autonomous(name = "Burnsville audience blue", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
 
@@ -42,15 +43,15 @@ public class CompetitionBurnsvilleAudienceBlue extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville audience blue", "0-01-1"));
 
         // drive to the left, center, or right spike mark
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-1"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-0"));
-        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience blue", "1-02-0"));
 
         // place pixel
         addState(new ClawFingerState(robot,"Burnsville audience blue", "0-02-1"));

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleAudienceRed.java

@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -12,7 +13,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville audience red")
+@Autonomous(name = "Burnsville audience red", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleAudienceRed extends CyberarmEngine {
 
@@ -41,15 +42,15 @@ public class CompetitionBurnsvilleAudienceRed extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville audience red", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville audience red", "0-01-1"));
 
         // drive to the left, center, or right spike mark
         addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville audience red", "1-02-0"));
 
         // place pixel
         addState(new ClawFingerState(robot,"Burnsville audience red", "0-02-1"));

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropBlue.java

@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -13,7 +14,7 @@ import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfig
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville BackDrop blue")
+@Autonomous(name = "Burnsville BackDrop blue", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
 
@@ -42,15 +43,15 @@ public class CompetitionBurnsvilleBackDropBlue extends CyberarmEngine {
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-01-1"));
 
         // drive to the left, center, or right spike mark
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "3-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop blue", "1-02-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop blue", "0-02-4"));
 

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionEngines/CompetitionBurnsvilleBackDropRed.java

@@ -3,6 +3,7 @@ package org.timecrafters.CenterStage.Autonomous.CompetitionEngines;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
+import org.timecrafters.CenterStage.Autonomous.CompetitionStates.CameraVisionState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawArmState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.ClawFingerState;
 import org.timecrafters.CenterStage.Autonomous.CompetitionStates.DriveToCoordinatesState;
@@ -12,7 +13,7 @@ import org.timecrafters.CenterStage.Common.CompetitionRobotV1;
 
 import dev.cyberarm.engine.V2.CyberarmEngine;
 
-@Autonomous(name = "Burnsville BackDrop red")
+@Autonomous(name = "Burnsville BackDrop red", preselectTeleOp = "Competition V1 TeleOp")
 
 public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
 
@@ -22,7 +23,6 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
     @Override
     public void init() {
         super.init();
-        robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.clawArm.setTargetPosition(0);
         robot.clawArm.setPower(0);
         robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
@@ -36,19 +36,18 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
         this.robot = new CompetitionRobotV1("Burnsville BackDrop red");
         addTask(new DriveToCoordinatesTask(robot));
         addTask(new OdometryLocalizerTask(robot));
-//        addTask(new ClawArmControlTask(robot));
 
         this.robot.setup();
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-0"));
 
-//        addState(new CameraVisionState(robot));
+        addState(new CameraVisionState(robot));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-01-1"));
 
         // drive to the left, center, or right spike mark
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-1"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-02-1"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-02-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-02-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-02-5"));
@@ -67,8 +66,8 @@ public class CompetitionBurnsvilleBackDropRed extends CyberarmEngine {
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-03-1"));
 
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
-//        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "1-04-0"));
+        addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "2-04-0"));
         addState(new DriveToCoordinatesState(robot,"Burnsville BackDrop red", "3-04-0"));
 
         addState(new ClawArmState(robot,"Burnsville BackDrop red", "0-04-1"));

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/CameraVisionState.java

@@ -55,7 +55,7 @@ public class CameraVisionState extends CyberarmState {
     @Override
     public void exec() {
         robot.clawArmControl();
-        if (System.currentTimeMillis() - initTime > 3000){
+        if (System.currentTimeMillis() - initTime > 4000){
             robot.objectPos = pipeline.objectPos();
             setHasFinished(true);
         }

TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/CompetitionStates/DriveToCoordinatesState.java

@@ -40,11 +40,15 @@ public class DriveToCoordinatesState extends CyberarmState {
     @Override
     public void start() {
         super.start();
-        robot.hTarget = hTarget;
-        robot.yTarget = yTarget;
-        robot.xTarget = xTarget;
-        robot.yMaxPower = maxYPower;
-        robot.xMaxPower = maxXPower;
+        if (posSpecific) {
+            robot.hTarget = hTarget;
+            robot.yTarget = yTarget;
+            robot.xTarget = xTarget;
+            robot.yMaxPower = maxYPower;
+            robot.xMaxPower = maxXPower;
+        } else {
+            setHasFinished(true);
+        }
 
         Log.d("TTT?", ""  + actionName + " CURRENT POSITION: x: " + robot.positionX + " Y: " + robot.positionY + "h: " + robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
         Log.d("TTT?", ""  + actionName + " TARGET POSITION: x: " + robot.xTarget + " Y: " + robot.yTarget + "h: " + robot.hTarget);

TeamCode/src/main/java/org/timecrafters/CenterStage/Common/CompetitionRobotV1.java

@@ -17,6 +17,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
 import org.openftc.easyopencv.OpenCvCamera;
 import org.openftc.easyopencv.OpenCvCameraFactory;
 import org.openftc.easyopencv.OpenCvCameraRotation;
@@ -51,7 +52,9 @@ public class CompetitionRobotV1 extends Robot {
     // ----------------------------------------------------------------------------------------------------------------- odometry variables:
     public static double Hp = 0.8, Hi = 0, Hd = 0;
     public static double Xp = -0.03, Xi = 0, Xd = 0;
+    public static double xvp = -0.03, xvi = 0, xvd = 0;
     public static double Yp = 0.03, Yi = 0, Yd = 0;
+    public static double yvp = 0.03, yvi = 0, yvd = 0;
     public double xMultiplier = 1;
     public double yMultiplier = 1;
     public double positionX = 1000;
@@ -60,6 +63,8 @@ public class CompetitionRobotV1 extends Robot {
     public double xTarget = 1000;
     public double yTarget = 1000;
     public double hTarget = 0;
+    public double targetVelocityX = 0;
+    public double targetVelocityY = 0;
 
     public int currentRightPosition = 0;
     public int currentLeftPosition = 0;
@@ -75,14 +80,20 @@ public class CompetitionRobotV1 extends Robot {
     // heading math variables for pid with imu
     public double headingIntegralSum = 0;
     public double xIntegralSum = 0;
+    public double xVeloIntegralSum = 0;
     public double yIntegralSum = 0;
+    public double yVeloIntegralSum = 0;
     public final double cm_per_tick = (2 * Math.PI * R) / N;
     private double headingLastError = 0;
     private double xLastError = 0;
+    private double xVeloLastError = 0;
     private double yLastError = 0;
+    private double yVeloLastError = 0;
     ElapsedTime headingTimer = new ElapsedTime();
     ElapsedTime xTimer = new ElapsedTime();
     ElapsedTime yTimer = new ElapsedTime();
+    ElapsedTime xVeloTimer = new ElapsedTime();
+    ElapsedTime yVeloTimer = new ElapsedTime();
 
     public double frontLeftPower;
     public double backLeftPower;
@@ -96,6 +107,11 @@ public class CompetitionRobotV1 extends Robot {
     public double rawPidX;
     public double rawPidY;
 
+    public double xVelocity;
+    public double yVelocity;
+    public double deltaTime;
+
+
     //-------------------------------------------------------------------------------------------------------------- arm sequence variables:
     PIDController pidController;
     public double power;
@@ -211,6 +227,17 @@ public class CompetitionRobotV1 extends Robot {
 
     // -------------------------------------------------------------------------------------------------------------------------- Functions:
 
+    public void velocityChecker(){
+        long startTime = System.currentTimeMillis();
+        double oldXpos = positionX;
+        double oldYpos = positionX;
+
+        xVelocity = (oldXpos - positionX) / deltaTime;
+        yVelocity = (oldYpos - positionY) / deltaTime;
+
+        deltaTime = startTime - System.currentTimeMillis();
+
+    }
 
     public void OdometryLocalizer() { // ------------------------------------------------------------------------------- Odometry Localizer:
         // update positions
@@ -266,6 +293,27 @@ public class CompetitionRobotV1 extends Robot {
         double output = (error * Hp) + (derivative * Hd) + (headingIntegralSum * Hi);
         return output;
     }
+    public double XVeloPIDControl ( double reference, double current){
+        double error = (reference - current);
+        xVeloIntegralSum += error * xVeloTimer.seconds();
+        double derivative = (error - xVeloLastError) / xVeloTimer.seconds();
+
+        xTimer.reset();
+
+        double output = (error * xvp) + (derivative * xvd) + (xIntegralSum * xvi);
+        return output;
+    }
+
+    public double YVeloPIDControl ( double reference, double current){
+        double error = (reference - current);
+        yVeloIntegralSum += error * yVeloTimer.seconds();
+        double derivative = (error - yVeloLastError) / xTimer.seconds();
+
+        xTimer.reset();
+
+        double output = (error * yvp) + (derivative * yvd) + (yVeloIntegralSum * yvi);
+        return output;
+    }
 
     public double XPIDControl ( double reference, double current){
         double error = (reference - current);
@@ -322,6 +370,8 @@ public class CompetitionRobotV1 extends Robot {
     public void DriveToCoordinates () {
         // determine the powers needed for each direction
         // this uses PID to adjust needed Power for robot to move to target
+        XVeloPIDControl(targetVelocityX, xVelocity);
+        XVeloPIDControl(targetVelocityY, yVelocity);
 
         double heading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
         double rx = HeadingPIDControl(Math.toRadians(hTarget), heading);

TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/CompetitionTeleOpState.java

@@ -257,16 +257,6 @@ public class CompetitionTeleOpState extends CyberarmState {
             }
         }
 
-        if (Objects.equals(armPos, "passive")) {
-            if (robot.lift.getCurrentPosition() >= 20) {
-                robot.chinUpServo.setPosition(chinUpServoDown);
-                robot.lift.setPower(-0.6);
-            } else {
-                robot.shoulder.setPosition(robot.shoulderPassive);
-                target = 570;
-            }
-        }
-
         if (Objects.equals(armPos, "lift up")) {
             robot.shoulder.setPosition(robot.shoulderCollect);
             robot.elbow.setPosition(robot.elbowDeposit);
@@ -303,8 +293,6 @@ public class CompetitionTeleOpState extends CyberarmState {
             super.init();
             pidController = new PIDController(p, i, d);
             robot.imu.resetYaw();
-
-        robot.clawArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.clawArm.setTargetPosition(0);
         robot.clawArm.setPower(0);
         robot.clawArm.setMode(DcMotor.RunMode.RUN_TO_POSITION);

TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/SodiPizzaTeleOPState.java

@@ -22,7 +22,7 @@ import dev.cyberarm.engine.V2.GamepadChecker;
 public class SodiPizzaTeleOPState extends CyberarmState {
 
     final private SodiPizzaMinibotObject robot;
-    private long lastMoveTime, lastDistRead /* <- last time Distance was read*/;
+    private long lastMoveTime, lastDistRead /* <- last time Distance was read*/, startingTime;
     public double drivePower;
     public final double minInput = 0.1 /* <- Minimum input from stick to send command */;
     public double lastToldAngle /* <- The angle the bot was last told to stop at */, proportion, integral, derivative;
@@ -87,6 +87,7 @@ public class SodiPizzaTeleOPState extends CyberarmState {
 
         lastMoveTime = System.currentTimeMillis();
         lastDistRead = System.currentTimeMillis();
+        startingTime = System.currentTimeMillis();
 
         robot.distSensor.getDistance(DistanceUnit.MM);
     }
@@ -94,42 +95,27 @@ public class SodiPizzaTeleOPState extends CyberarmState {
     @Override
     public void exec() {
 
-        double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
-        double x = engine.gamepad1.left_stick_x;
+        if(System.currentTimeMillis() - startingTime <= 2000) {
+            getApproxObjPos();
+        }
+
+        double y = -engine.gamepad1.left_stick_y; // Remember, Y stick value is reversed
+        double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
         double rx = engine.gamepad1.right_stick_x;
 
-        double lbPower = (y - x + rx);
-        double rbPower = (y + x - rx);
-        double lfPower = (y + x + rx);
-        double rfPower = (y - x - rx);
+// Denominator is the largest motor power (absolute value) or 1
+// This ensures all the powers maintain the same ratio,
+// but only if at least one is out of the range [-1, 1]
+        double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+        double frontLeftPower = (y + x + rx) / denominator;
+        double backLeftPower = (y - x + rx) / denominator;
+        double frontRightPower = (y - x - rx) / denominator;
+        double backRightPower = (y + x - rx) / denominator;
 
-        robot.leftFront.setPower(lfPower * drivePower);
-        robot.leftBack.setPower(lbPower * drivePower);
-        robot.rightFront.setPower(rfPower * drivePower);
-        robot.rightBack.setPower(rbPower * drivePower);
-
-        /* For some reason, the robot reacts to both positive and negative direction from sticks as positive.
-        (It moves forward when I make it go forward, and forward when I make it go backward, as well as for strafing and turning.)*/
-        if (Math.abs(engine.gamepad1.left_stick_x) >= 0.1) {
-            drivePower = engine.gamepad1.left_stick_x;
-//            robot.leftFront.setPower(lfPower * drivePower);
-//            robot.leftBack.setPower(lbPower * drivePower);
-//            robot.rightFront.setPower(rfPower * drivePower);
-//            robot.rightBack.setPower(rbPower * drivePower);
-
-        }else if (Math.abs(engine.gamepad1.left_stick_y) >= 0.1) {
-            drivePower = engine.gamepad1.left_stick_y;
-//            robot.leftFront.setPower(lfPower * drivePower);
-//            robot.leftBack.setPower(lbPower * drivePower);
-//            robot.rightFront.setPower(rfPower * drivePower);
-//            robot.rightBack.setPower(rbPower * drivePower);
-        }else if (Math.abs(engine.gamepad1.right_stick_x) >= 0.1) {
-            drivePower = engine.gamepad1.right_stick_x;
-//            robot.leftFront.setPower(lfPower * drivePower);
-//            robot.leftBack.setPower(lbPower * drivePower);
-//            robot.rightFront.setPower(rfPower * drivePower);
-//            robot.rightBack.setPower(rbPower * drivePower);
-        }
+        robot.leftFront.setPower(frontLeftPower);
+        robot.leftBack.setPower(backLeftPower);
+        robot.rightFront.setPower(frontRightPower);
+        robot.rightBack.setPower(backRightPower);
 
 
         if (engine.gamepad2.left_stick_button) {