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SpencerPiha
2022-10-20 19:32:40 -05:00
parent 9fb6416f02
commit 7442efa1c9
2 changed files with 25 additions and 1 deletions
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21
TeamCode/src/main/java/org/timecrafters/Autonomous/States/LowerArm.java
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@@ -1,11 +1,32 @@
package org.timecrafters.Autonomous.States;
import org.cyberarm.engine.V2.CyberarmState;
import org.timecrafters.testing.states.PrototypeBot1;
public class LowerArm extends CyberarmState {
PrototypeBot1 robot;
double LowerRiserRightPos, LowerRiserLeftPos;
long time;
long lastStepTime = 0;
public LowerArm(PrototypeBot1 robot, String groupName, String actionName) {
this.robot = robot;
this.LowerRiserLeftPos = robot.configuration.variable(groupName, actionName, "LowerRiserLeftPos").value();
this.LowerRiserRightPos = robot.configuration.variable(groupName, actionName, "LowerRiserRightPos").value();
this.time = robot.configuration.variable(groupName, actionName, "time").value();
}
@Override
public void exec() {
if (robot.LowRiserLeft.getPosition() > LowerRiserLeftPos) {
if (System.currentTimeMillis() - lastStepTime >= time) {
lastStepTime = System.currentTimeMillis();
robot.LowRiserLeft.setPosition(robot.LowRiserLeft.getPosition() - LowerRiserLeftPos);
robot.LowRiserRight.setPosition(robot.LowRiserRight.getPosition() - LowerRiserRightPos);
}
}
}
}