Adding a faster movement button

TeamCode/src/main/java/org/timecrafters/testing/engine/SpeedrunEngine.java

@@ -0,0 +1,53 @@
+package org.timecrafters.testing.engine;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.cyberarm.engine.V2.GamepadChecker;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+import org.timecrafters.testing.states.PhoenixBot1;
+import org.timecrafters.testing.states.TeleOPSpeedrunState;
+
+@TeleOp (name = "Speedrun Engine")
+public class SpeedrunEngine extends CyberarmEngine {
+    GamepadChecker gamepadChecker;
+    PhoenixBot1 robot;
+
+    @Override
+    public void setup() {
+        TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();
+        robot = new PhoenixBot1(this);
+
+        gamepadChecker = new GamepadChecker(this, this.gamepad1);
+
+//        setupFromConfig(
+//                configuration,
+//                "org.timecrafters.testing.states",
+//                robot,
+//                PhoenixBot1.class,
+//                "SpeedRun"
+//        );
+
+//        addState(new TeleOPSpeedrunState(robot, "SpeedRun", "00-0"));
+//        addState(new TeleOPSpeedrunState(robot, "SpeedRun", "01-0"));
+    }
+
+    @Override
+    public void loop() {
+        super.loop();
+
+        gamepadChecker.update();
+    }
+
+    @Override
+    protected void buttonUp(Gamepad gamepad, String button) {
+        if (gamepad1 == gamepad) {
+            if (button.equals("a")) {
+                addState(new TeleOPSpeedrunState(robot, "SpeedRun", "00-0"));
+            } else if (button.equals("y")) {
+                addState(new TeleOPSpeedrunState(robot, "SpeedRun", "01-0"));
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/timecrafters/testing/states/PhoenixBot1.java

@@ -54,13 +54,13 @@ public class PhoenixBot1 {
         public PhoenixBot1(CyberarmEngine engine) {
             this.engine = engine;
 
-            initVuforia();
+//            initVuforia();
-            initTfod();
+//            initTfod();
             setupRobot();
         }
 
         private void setupRobot () {
-            collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
+//            collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
 
             BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
 
@@ -75,7 +75,7 @@ public class PhoenixBot1 {
             imu.startAccelerationIntegration(new Position(), new Velocity(), 10);
 
             configuration = new TimeCraftersConfiguration("Phoenix");
-            AdafruitEncoder = engine.hardwareMap.AdafruitI2cColorSensor.get("adafruit");
+//            AdafruitEncoder = engine.hardwareMap.AdafruitI2cColorSensor.get("adafruit");
 
             //motors configuration
             frontLeftDrive = engine.hardwareMap.dcMotor.get("Front Left");
@@ -147,7 +147,7 @@ public class PhoenixBot1 {
 
 
                 //  Instantiate the Vuforia engine
-                vuforia = ClassFactory.getInstance().createVuforia(parameters);
+//                vuforia = ClassFactory.getInstance().createVuforia(parameters);
             }
 
             private void initTfod() {

TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPSpeedrunState.java

@@ -0,0 +1,38 @@
+package org.timecrafters.testing.states;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+
+public class TeleOPSpeedrunState extends CyberarmState {
+    PhoenixBot1 robot;
+    double power;
+    int distance;
+
+    public TeleOPSpeedrunState(PhoenixBot1 robot, String groupName, String actionName) {
+        this.robot = robot;
+        TimeCraftersConfiguration configuration = new TimeCraftersConfiguration();
+
+        this.power = configuration.variable(groupName, actionName, "Power").value();
+        this.distance = configuration.variable(groupName, actionName, "Distance").value();
+    }
+
+    @Override
+    public void start() {
+        this.robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        this.robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
+    @Override
+    public void exec() {
+        robot.backLeftDrive.setPower(power);
+        robot.backRightDrive.setPower(power);
+        if (Math.abs(robot.backLeftDrive.getCurrentPosition()) > Math.abs(distance)) {
+            power = 0;
+            robot.backLeftDrive.setPower(power);
+            robot.backRightDrive.setPower(power);
+            setHasFinished(true);
+        }
+    }
+}