added more functions to gamepad 1 and to gamepad 2, as well as adding more robot objects

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java

@@ -6,6 +6,7 @@ import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.
 
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.Servo;
@@ -78,9 +79,13 @@ public class Robot {
     // Collector
     public Servo collectorDispenser;
 
+    public CRServo turretServo1;
+
     // Depositor
     public Servo depositorDispenser;
 
+    public CRServo turretServo2;
+
     public Robot(CyberarmEngine engine) {
         this.engine = engine;
 
@@ -204,13 +209,14 @@ public class Robot {
         collectorArmBobbin = engine.hardwareMap.dcMotor.get("collectorArmBobbin");
         collectorDispenser = engine.hardwareMap.servo.get("collectorDispenser");
         collectorArmBobbin.setDirection(DcMotorSimple.Direction.FORWARD);
+        turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
     }
 
     private void initDepositor(){
         depositorDispenser = engine.hardwareMap.servo.get("depositorDispenser");
         depositorArmBobbin = engine.hardwareMap.dcMotor.get("depositorArmBobbin");
         depositorArmBobbin.setDirection(DcMotorSimple.Direction.REVERSE);
-
+        turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
     }
 
     private void initCarousel() {

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java

@@ -31,21 +31,43 @@ public class TeleOpState extends CyberarmState {
         robot.driveWarehouseRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
-
+        // dispenser powered
         if (engine.gamepad1.right_bumper){
             robot.collectorDispenser.setPosition(.5);
-        } else {
-            robot.collectorDispenser.setPosition(0);
         }
 
+        // if not pressed dispenser off
+        else {
+            robot.collectorDispenser.setPosition(0);
+        }
+        //if one of triggers pressed arm extends or unextends
         robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed);
 
         if (engine.gamepad1.right_trigger <= 0){
             robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
         }
 
+        //  if either of these buttons move the servo
+        //  turretServo1 = orange
+        if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
+
+            if (engine.gamepad1.dpad_right) {
+                robot.turretServo1.setPower(1);
+            }
+
+            if (engine.gamepad1.dpad_left) {
+                robot.turretServo1.setPower(-1);
+            }
+        }
+        //  if neither of these buttons power off
+        else {
+            robot.turretServo1.setPower(0);
+        }
+
 
         // GamePad 2
+
+        // if triggers are pressed then arm extends or unextends
         robot.depositorArmBobbin.setPower(engine.gamepad2.right_trigger * maxDepositorArmSpeed);
 
         if (engine.gamepad2.right_trigger <= 0) {
@@ -60,6 +82,23 @@ public class TeleOpState extends CyberarmState {
         }
 
 
+        //  if either of these buttons move the servo
+        //  turretServo2 = white
+        if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) {
+
+            if (engine.gamepad2.dpad_right) {
+                robot.turretServo2.setPower(1);
+            }
+
+            if (engine.gamepad2.dpad_left) {
+                robot.turretServo2.setPower(-1);
+            }
+        }
+        //  if neither of these buttons power off
+        else {
+            robot.turretServo2.setPower(0);
+        }
+
 
 
     }