From 365a7ca7a7d0e74c720bd4fb8679b145d58eea25 Mon Sep 17 00:00:00 2001
From: Cyberarm <matthewlikesrobots@gmail.com>
Date: Sat, 16 Oct 2021 12:20:25 -0500
Subject: [PATCH] Added Cayden's DriveTrain test program

---
 .../Engines/DriveTrainTestEngine.java         | 14 ++++++
 .../States/DriveTrainTestState.java           | 49 +++++++++++++++++++
 2 files changed, 63 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
 create mode 100644 TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java

diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
new file mode 100644
index 0000000..6b1f12e
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/Engines/DriveTrainTestEngine.java
@@ -0,0 +1,14 @@
+package org.timecrafters.FreightFrenzy.HardwareTesting.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.FreightFrenzy.HardwareTesting.States.DriveTrainTestState;
+
+@TeleOp(name = "DriveTrain Test", group = "testing")
+public class DriveTrainTestEngine extends CyberarmEngine {
+    @Override
+    public void setup() {
+        addState(new DriveTrainTestState());
+    }
+}
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java
new file mode 100644
index 0000000..94062c0
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/HardwareTesting/States/DriveTrainTestState.java
@@ -0,0 +1,49 @@
+package org.timecrafters.FreightFrenzy.HardwareTesting.States;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+
+public class DriveTrainTestState extends CyberarmState {
+
+    //here, you'll find some of your variables. you can add more as you need them.
+    DcMotor driveFrontRight;
+    DcMotor driveBackRight;
+    DcMotor driveFrontLeft;
+    DcMotor driveBackLeft;
+
+    TimeCraftersConfiguration configuration;
+
+    double maxSpeed;
+
+    //This is the constructor. It lets other code bits run use the code you put here
+    public DriveTrainTestState() {
+        configuration = new TimeCraftersConfiguration();
+        maxSpeed = configuration.variable("testing", "teleop", "maxSpeed").value();
+    }
+
+    @Override
+    public void init() {
+        driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
+        driveFrontLeft = engine.hardwareMap.dcMotor.get("driveFrontLeft");
+        driveBackRight = engine.hardwareMap.dcMotor.get("driveBackRight");
+        driveBackLeft = engine.hardwareMap.dcMotor.get("driveBackLeft");
+
+        driveFrontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        driveBackLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+
+    //This is a method. methods are bits of code that can be run elsewhere. 
+    //This one is set up to repeat every few milliseconds
+    @Override
+    public void exec() {
+
+        driveFrontRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
+        driveBackRight.setPower(-engine.gamepad1.right_stick_y * maxSpeed);
+        driveFrontLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
+        driveBackLeft.setPower(-engine.gamepad1.left_stick_y * maxSpeed);
+
+    }
+}
\ No newline at end of file