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Tank drive w/ bumper strafe yay

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Sodi
2022-08-25 19:29:09 -05:00
parent ff864b2668
commit 98ade45485
2 changed files with 59 additions and 0 deletions
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24
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java Normal file
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package org.timecrafters.minibots.cyberarm.engines;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.cyberarm.engine.V2.CyberarmEngine;
import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
import org.timecrafters.minibots.cyberarm.states.PingPongState;
@TeleOp (name = "Sodi PingPong")
public class PingPongEngine extends CyberarmEngine {
MecanumRobot robot;
@Override
public void setup() {
robot = new MecanumRobot(this);
addState(new PingPongState(robot));
}
}

35
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java Normal file
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package org.timecrafters.minibots.cyberarm.states;
import org.cyberarm.engine.V2.CyberarmState;
public class PingPongState extends CyberarmState {
private final MecanumRobot robot;
public PingPongState(MecanumRobot robot) {
this.robot = robot;
}
@Override
public void exec() {
if (engine.gamepad1.left_bumper) {
robot.frontLeftDrive.setPower(1);
robot.backLeftDrive.setPower(-1);
robot.backRightDrive.setPower(1);
robot.frontRightDrive.setPower(-1);
}
else if (engine.gamepad1.right_bumper) {
robot.frontLeftDrive.setPower(-1);
robot.backLeftDrive.setPower(1);
robot.frontRightDrive.setPower(1);
robot.backRightDrive.setPower(-1);
}
else {
robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y);
robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y);
robot.backRightDrive.setPower(engine.gamepad1.right_stick_y);
robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y);
}
}
}