From 98ade4548595cdd0eed3404e5504956ae45908f3 Mon Sep 17 00:00:00 2001
From: Sodi <ravenpaw5040@gmail.com>
Date: Thu, 25 Aug 2022 19:29:09 -0500
Subject: [PATCH] Tank drive w/ bumper strafe yay

---
 .../cyberarm/engines/PingPongEngine.java      | 24 +++++++++++++
 .../cyberarm/states/PingPongState.java        | 35 +++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java
 create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java

diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java
new file mode 100644
index 0000000..f3cace8
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/engines/PingPongEngine.java
@@ -0,0 +1,24 @@
+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));
+
+
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java
new file mode 100644
index 0000000..10153e7
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/PingPongState.java
@@ -0,0 +1,35 @@
+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);
+        }
+
+    }
+}