Adding semi-autonomous functions, variable names are *NOT* inspired by the story of Spirit and Opportunity, the names are a coincidence.

TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java

@@ -5,6 +5,7 @@ import org.cyberarm.engine.V2.CyberarmState;
 public class PhoenixTeleOPv2 extends CyberarmState {
     private double drivePower = 1;
     PhoenixBot1 robot;
+
     public PhoenixTeleOPv2(PhoenixBot1 robot) {
         this.robot = robot;
     }
@@ -15,7 +16,6 @@ public class PhoenixTeleOPv2 extends CyberarmState {
         addParallelState(new TeleOPTankDriver(robot));
 
 
-
     }
 
     @Override
@@ -45,9 +45,8 @@ public class PhoenixTeleOPv2 extends CyberarmState {
             robot.backRightDrive.setPower(BRPower);
             robot.frontLeftDrive.setPower(FLPower);
             robot.frontRightDrive.setPower(FRPower);
+
+
         }
-
-        if (engine.gamepad1.right_stick_x )
-
     }
 }

TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPArmDriver.java

@@ -4,12 +4,15 @@ import com.qualcomm.robotcore.hardware.Servo;
 
 import org.cyberarm.engine.V2.CyberarmState;
 import org.cyberarm.engine.V2.GamepadChecker;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 
 public class TeleOPArmDriver extends CyberarmState {
     private final PhoenixBot1 robot;
     private long lastStepTime = 0;
     private int CyclingArmUpAndDown = 0;
     private GamepadChecker gamepad2Checker;
+    private int Opportunity, Endeavour;
+    private double drivePower;
 
     public TeleOPArmDriver(PhoenixBot1 robot) {
         this.robot = robot;
@@ -34,6 +37,8 @@ public class TeleOPArmDriver extends CyberarmState {
         robot.LowRiserRight.setPosition(0.45);
         robot.HighRiserLeft.setPosition(0.45);
         robot.HighRiserRight.setPosition(0.45);
+        Opportunity = 0;
+        Endeavour = 10;
 
 
         gamepad2Checker = new GamepadChecker(engine, engine.gamepad2);
@@ -41,6 +46,15 @@ public class TeleOPArmDriver extends CyberarmState {
 
     @Override
     public void exec() {
+        if (robot.collectorDistance.getDistance(DistanceUnit.MM) < 275 && robot.collectorDistance.getDistance(DistanceUnit.MM) > 100) {
+            Endeavour = 0;
+            }
 
-    }
+        if (robot.collectorDistance.getDistance(DistanceUnit.MM) < 550 && robot.collectorDistance.getDistance(DistanceUnit.MM) > 275) {
-}
+            Endeavour = 1;
+        }
+
+        }
+
+
+    }

TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java

@@ -9,10 +9,12 @@ import org.cyberarm.engine.V2.GamepadChecker;
 public class TeleOPTankDriver extends CyberarmState {
 
     private final PhoenixBot1 robot;
+    private long lastStepTime = 0;
     private double drivePower = 0.3;
     private double RobotRotation;
     private double RotationTarget, DeltaRotation;
     private double MinimalPower = 0.2;
+    private int DeltaOdometerR, Endeavour, Spirit;
     private GamepadChecker gamepad1Checker;
     public TeleOPTankDriver(PhoenixBot1 robot) {
         this.robot = robot;
@@ -34,6 +36,10 @@ public class TeleOPTankDriver extends CyberarmState {
     @Override
     public void exec() {
 
+        if (drivePower > 0.1 && ) {
+
+        }
+
     }
     public void CalculateDeltaRotation() {
         if (RotationTarget >= 0 && RobotRotation >= 0) {
@@ -49,6 +55,16 @@ public class TeleOPTankDriver extends CyberarmState {
             DeltaRotation = Math.abs(RobotRotation + RotationTarget);
         }
     }
+
+    public double getDeltaOdometerR() {
+        Spirit = robot.OdometerEncoder.getCurrentPosition();
+        if (System.currentTimeMillis() - lastStepTime >= 1000) {
+            lastStepTime = System.currentTimeMillis();
+            DeltaOdometerR = robot.OdometerEncoder.getCurrentPosition() - Spirit;
+        }
+        return DeltaOdometerR;
+    }
+
     @Override
     public void buttonUp(Gamepad gamepad, String button) {
         if (engine.gamepad1 == gamepad && button.equals("start")) {