From ffb138301c7ddf471766286ae28b93f44744e552 Mon Sep 17 00:00:00 2001 From: Sodi Date: Thu, 8 Sep 2022 19:05:56 -0500 Subject: [PATCH] Tank drive w/ bumper strafe, playing with LEDS and sensors. --- .../states/AssignmentOmniKinetic.java | 69 +++++++------------ 1 file changed, 24 insertions(+), 45 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java index 7548ee8..c06246c 100644 --- a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java +++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java @@ -29,57 +29,31 @@ public class AssignmentOmniKinetic extends CyberarmState { @Override public void exec() { - if (engine.gamepad1.dpad_up) { - - robot.frontLeftDrive.setPower(1); - robot.frontRightDrive.setPower(1); - robot.backLeftDrive.setPower(1); - robot.backRightDrive.setPower(1); - - } - - if (engine.gamepad1.dpad_down) { - - robot.frontLeftDrive.setPower(-1); - robot.frontRightDrive.setPower(-1); - robot.backLeftDrive.setPower(-1); - robot.backRightDrive.setPower(-1); - - } - - if (engine.gamepad1.dpad_left) { - - robot.frontLeftDrive.setPower(1); - robot.frontRightDrive.setPower(-1); - robot.backLeftDrive.setPower(-1); - robot.backRightDrive.setPower(1); - - } - - if (engine.gamepad1.) { - - robot.frontLeftDrive.setPower(-1); - robot.frontRightDrive.setPower(1); - robot.backLeftDrive.setPower(1); - robot.backRightDrive.setPower(-1); - - } - - if (engine.gamepad1.) { - - robot.frontLeftDrive.setPower(-1); - robot.frontRightDrive.setPower(1); - robot.backLeftDrive.setPower(1); - robot.backRightDrive.setPower(-1); - - } if (engine.gamepad1.left_bumper) { + robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y * 1); + robot.frontRightDrive.setPower(engine.gamepad1.left_stick_y * -1); + robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y * -1); + robot.backRightDrive.setPower(engine.gamepad1.left_stick_y * 1); + + } + + if (engine.gamepad1.right_bumper) { + + robot.frontLeftDrive.setPower(engine.gamepad1.right_stick_y * -1); + robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y * 1); + robot.backLeftDrive.setPower(engine.gamepad1.right_stick_y * 1); + robot.backRightDrive.setPower(engine.gamepad1.right_stick_y * -1); + + + } + if (engine.gamepad1.dpad_up) { + Zygo.setPosition(1.0); } - if (engine.gamepad1.right_bumper) { + if (engine.gamepad1.dpad_down) { Zygo.setPosition(0); } @@ -107,6 +81,11 @@ public class AssignmentOmniKinetic extends CyberarmState { } + Three.setPower(engine.gamepad1.left_stick_y * 1); + Two.setPower(engine.gamepad1.left_stick_y * 1); + One.setPower(engine.gamepad1.right_stick_y * 1); + Zero.setPower(engine.gamepad1.right_stick_y * 1); + } }