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Adding a rewritten teleop

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This commit is contained in:
Sodi
2023-01-17 20:30:38 -06:00
parent a5a8260ae6
commit e9cc326b65
1 changed files with 21 additions and 12 deletions
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33
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPv2.java
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@@ -13,19 +13,8 @@ public class PhoenixTeleOPv2 extends CyberarmState {
public void start() { public void start() {
addParallelState(new TeleOPArmDriver(robot)); addParallelState(new TeleOPArmDriver(robot));
addParallelState(new TeleOPTankDriver(robot)); addParallelState(new TeleOPTankDriver(robot));
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
double x = engine.gamepad1.left_stick_x;
double rx = engine.gamepad1.right_stick_x;
double backLeftPower = (y - x + rx);
double backRightPower = (y + x - rx);
double frontLeftPower = (y + x + rx);
double frontRightPower = (y - x - rx);
robot.frontLeftDrive.setPower(frontLeftPower * drivePower);
robot.backLeftDrive.setPower(backLeftPower * drivePower);
robot.frontRightDrive.setPower(frontRightPower * drivePower);
robot.backRightDrive.setPower(backRightPower * drivePower);
} }
@@ -36,9 +25,29 @@ public class PhoenixTeleOPv2 extends CyberarmState {
@Override @Override
public void exec() { public void exec() {
if (engine.gamepad1.left_stick_x > 0.1) {
double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
double x = engine.gamepad1.left_stick_x;
double rx = engine.gamepad1.right_stick_x;
double BLPower = (y - x + rx);
double BRPower = (y + x - rx);
double FLPower = (y + x + rx);
double FRPower = (y - x - rx);
robot.frontLeftDrive.setPower(FLPower * drivePower);
robot.backLeftDrive.setPower(BLPower * drivePower);
robot.frontRightDrive.setPower(FRPower * drivePower);
robot.backRightDrive.setPower(BRPower * drivePower);
if (engine.gamepad1.left_stick_x > 0.1) {
robot.backLeftDrive.setPower(BLPower);
robot.backRightDrive.setPower(BRPower);
robot.frontLeftDrive.setPower(FLPower);
robot.frontRightDrive.setPower(FRPower);
} }
if (engine.gamepad1.right_stick_x )
} }
} }