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Finishing the "FreeSpirit" semi-auto cycle with a FreeSpirit = false.

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This commit is contained in:
Sodi
2023-01-28 10:37:51 -06:00
parent ebbb373a23
commit ada00ed5ea
1 changed files with 5 additions and 1 deletions
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6
TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
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@@ -47,7 +47,7 @@ public class TeleOPTankDriver extends CyberarmState {
} }
} }
if (FreeSpirit) { if (FreeSpirit && System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR < 4096) {
getCurrentDriveCommand(); getCurrentDriveCommand();
drivePower = -currentDriveCommand; drivePower = -currentDriveCommand;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
@@ -56,6 +56,10 @@ public class TeleOPTankDriver extends CyberarmState {
robot.frontRightDrive.setPower(drivePower); robot.frontRightDrive.setPower(drivePower);
} }
if (FreeSpirit && System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR >= 4096) {
FreeSpirit = false;
}
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && !FreeSpirit) { if (Math.abs(engine.gamepad1.left_stick_y) > 0.1 && !FreeSpirit) {
drivePower = engine.gamepad1.left_stick_y; drivePower = engine.gamepad1.left_stick_y;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);