From cf89b53e90fa590351e0129d539c3caebf91bbf5 Mon Sep 17 00:00:00 2001
From: SpencerPiha <88354753+SpencerPiha@users.noreply.github.com>
Date: Sat, 8 Oct 2022 16:45:05 -0500
Subject: [PATCH] just added a slowmode fix and also cut power in half since
 there were issues with how much speed we have being applied at the moment. so
 now full speed (AKA as "speed" in the code) is at 50% while "half speed" is
 at 25%

---
 .../testing/engine/PrototypeTeleOP.java       |  1 -
 .../testing/states/PrototypeTeleOPState.java  | 19 +++++++++++--------
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java b/TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java
index f5dc154..c46db6a 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/engine/PrototypeTeleOP.java
@@ -20,5 +20,4 @@ public class PrototypeTeleOP extends CyberarmEngine {
         addState(new PrototypeTeleOPState(robot));
 
     }
-
 }
diff --git a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
index 2d45556..bccb7c7 100644
--- a/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
+++ b/TeamCode/src/main/java/org/timecrafters/testing/states/PrototypeTeleOPState.java
@@ -22,11 +22,14 @@ public class PrototypeTeleOPState extends CyberarmState {
     private boolean raiseHighRiser = true;
     private long lastStepTime = 0;
     private boolean raiseLowRiser = true;
+    private double speed = 0.5;
+    private double slowSpeed = 0.25;
 
     public PrototypeTeleOPState(PrototypeBot1 robot) {
         this.robot = robot;
     }
 
+
     @Override
     public void telemetry() {
 //        engine.telemetry.addData("Arm Power", robot.armMotor.getPower());
@@ -75,10 +78,10 @@ public class PrototypeTeleOPState extends CyberarmState {
 
         if (b && !bprev) {
 
-            if (drivePower == 1) {
-                drivePower = 0.5;
+            if (drivePower == speed) {
+                drivePower = slowSpeed;
             } else {
-                drivePower = 1;
+                drivePower = speed;
             }
         }
 
@@ -98,14 +101,14 @@ public class PrototypeTeleOPState extends CyberarmState {
         double backRightPower = (y + x - rx) / denominator;
 
         // As I programmed this and ran it, I realized everything was backwards
-        // in direction so to fix that i either went in the robot object state and reversed
+        // in direction so to fix that I either went in the robot object state and reversed
         // directions on drive motors or put a negative in behind the joystick power to reverse it.
         // I put negatives in to reverse it because it was the easiest at the moment.
 
-        robot.frontLeftDrive.setPower(-frontLeftPower);
-        robot.backLeftDrive.setPower(backLeftPower);
-        robot.frontRightDrive.setPower(-frontRightPower);
-        robot.backRightDrive.setPower(backRightPower);
+        robot.frontLeftDrive.setPower(-frontLeftPower * speed);
+        robot.backLeftDrive.setPower(backLeftPower * speed);
+        robot.frontRightDrive.setPower(-frontRightPower * speed);
+        robot.backRightDrive.setPower(backRightPower * speed);
 
 //        robot.armMotor.setPower(engine.gamepad2.left_stick_y * 0.5);