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Tank drive w/ bumper strafe, playing with LEDS and sensors.

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This commit is contained in:
Sodi
2022-09-08 19:05:56 -05:00
parent 7ad255c2c7
commit ffb138301c
1 changed files with 24 additions and 45 deletions
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69
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/AssignmentOmniKinetic.java
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@@ -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);
}
}