From 09ab30ad8b8bc9e3726511acd88ee07003078f25 Mon Sep 17 00:00:00 2001
From: SpencerPiha <88354753+SpencerPiha@users.noreply.github.com>
Date: Thu, 20 Oct 2022 19:39:48 -0500
Subject: [PATCH] Both of The Arm States

---
 .../Autonomous/States/UpperArm.java           | 32 +++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java

diff --git a/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
new file mode 100644
index 0000000..2c13994
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/Autonomous/States/UpperArm.java
@@ -0,0 +1,32 @@
+package org.timecrafters.Autonomous.States;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.testing.states.PrototypeBot1;
+
+public class UpperArm extends CyberarmState {
+
+    PrototypeBot1 robot;
+    double UpperRiserRightPos, UpperRiserLeftPos;
+    long time;
+    long lastStepTime = 0;
+
+    public UpperArm(PrototypeBot1 robot, String groupName, String actionName) {
+        this.robot = robot;
+        this.UpperRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
+        this.UpperRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
+        this.time = robot.configuration.variable(groupName, actionName, "time").value();
+    }
+
+    @Override
+    public void exec() {
+        if (robot.HighRiserLeft.getPosition() > UpperRiserLeftPos) {
+            if (System.currentTimeMillis() - lastStepTime >= time) {
+                lastStepTime = System.currentTimeMillis();
+                robot.HighRiserLeft.setPosition(robot.HighRiserLeft.getPosition() - UpperRiserLeftPos);
+                robot.HighRiserRight.setPosition(robot.HighRiserRight.getPosition() - UpperRiserRightPos);
+
+
+            }
+        }
+    }
+}