From ada00ed5ea05d4d341f22e7da0313624665aa430 Mon Sep 17 00:00:00 2001
From: Sodi <ravenpaw5040@gmail.com>
Date: Sat, 28 Jan 2023 10:37:51 -0600
Subject: [PATCH] Finishing the "FreeSpirit" semi-auto cycle with a FreeSpirit
 = false.

---
 .../org/timecrafters/TeleOp/states/TeleOPTankDriver.java    | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
index 9d47a38..5e30de2 100644
--- a/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
+++ b/TeamCode/src/main/java/org/timecrafters/TeleOp/states/TeleOPTankDriver.java
@@ -47,7 +47,7 @@ public class TeleOPTankDriver extends CyberarmState {
             }
         }
 
-        if (FreeSpirit) {
+        if (FreeSpirit && System.currentTimeMillis() - lastStepTime >= 2000 && DeltaOdometerR < 4096) {
             getCurrentDriveCommand();
             drivePower = -currentDriveCommand;
             robot.backLeftDrive.setPower(drivePower);
@@ -56,6 +56,10 @@ public class TeleOPTankDriver extends CyberarmState {
             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) {
             drivePower = engine.gamepad1.left_stick_y;
             robot.backLeftDrive.setPower(drivePower);