From 7caa230822df87d862818727dcf7e430f7311434 Mon Sep 17 00:00:00 2001
From: Spencer <SpencerPiha>
Date: Sun, 14 Nov 2021 14:41:03 -0600
Subject: [PATCH] added more functions to gamepad 1 and to gamepad 2, as well
 as adding more robot objects, should have every theoretical function that
 this robot should have to a button in tele op. first basic tele op iteration
 1

---
 .../Competition/Common/Robot.java             |  2 ++
 .../TeleOp/States/TeleOpState.java            | 22 ++++++++++---------
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
index 54d72a6..51beca4 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java
@@ -213,6 +213,7 @@ public class Robot {
         turretServo1 = engine.hardwareMap.crservo.get("turretServo1");
         collectorArmRiser = engine.hardwareMap.dcMotor.get("collectorArmRiser");
         collectorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
+        collectorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         collectorOrange = engine.hardwareMap.crservo.get("collectorOrange");
     }
 
@@ -223,6 +224,7 @@ public class Robot {
         turretServo2 = engine.hardwareMap.crservo.get("turretServo2");
         depositorArmRiser = engine.hardwareMap.dcMotor.get("depositorArmRiser");
         depositorArmRiser.setDirection(DcMotorSimple.Direction.FORWARD);
+        depositorArmRiser.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         collectorWhite = engine.hardwareMap.crservo.get("collectorWhite");
     }
 
diff --git a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
index 99364ab..3467492 100644
--- a/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
+++ b/TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java
@@ -1,5 +1,7 @@
 package org.timecrafters.FreightFrenzy.Competition.TeleOp.States;
 
+import com.qualcomm.robotcore.hardware.DcMotor;
+
 import org.cyberarm.engine.V2.CyberarmState;
 import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
 
@@ -41,10 +43,10 @@ public class TeleOpState extends CyberarmState {
             robot.collectorDispenser.setPosition(0);
         }
         //  if one of triggers pressed arm extends or unextends
-        robot.collectorArmBobbin.setPower(engine.gamepad1.right_trigger * maxCollectorArmSpeed);
+        robot.collectorArmBobbin.setPower(engine.gamepad1.left_trigger * maxCollectorArmSpeed);
 
-        if (engine.gamepad1.right_trigger <= 0){
-            robot.collectorArmBobbin.setPower(-engine.gamepad1.left_trigger * maxCollectorArmSpeed);
+        if (engine.gamepad1.left_trigger <= 0){
+            robot.collectorArmBobbin.setPower(-engine.gamepad1.right_trigger * maxCollectorArmSpeed);
         }
 
         //  if either of these buttons... move the servo
@@ -52,11 +54,11 @@ public class TeleOpState extends CyberarmState {
         if (engine.gamepad1.dpad_right || engine.gamepad1.dpad_left) {
 
             if (engine.gamepad1.dpad_right) {
-                robot.turretServo1.setPower(1);
+                robot.turretServo1.setPower(-1);
             }
 
             if (engine.gamepad1.dpad_left) {
-                robot.turretServo1.setPower(-1);
+                robot.turretServo1.setPower(1);
             }
         }
 
@@ -110,10 +112,10 @@ public class TeleOpState extends CyberarmState {
         // GamePad 2
 
         // if triggers are pressed then arm extends or unextends
-        robot.depositorArmBobbin.setPower(engine.gamepad2.right_trigger * maxDepositorArmSpeed);
+        robot.depositorArmBobbin.setPower(engine.gamepad2.left_trigger * maxDepositorArmSpeed);
 
-        if (engine.gamepad2.right_trigger <= 0) {
-            robot.depositorArmBobbin.setPower(-engine.gamepad2.left_trigger * maxDepositorArmSpeed);
+        if (engine.gamepad2.left_trigger <= 0) {
+            robot.depositorArmBobbin.setPower(-engine.gamepad2.right_trigger * maxDepositorArmSpeed);
         }
 
         // if b is pressed then depositor door opens, if not pressed not opening.
@@ -130,11 +132,11 @@ public class TeleOpState extends CyberarmState {
         if (engine.gamepad2.dpad_right || engine.gamepad2.dpad_left) {
 
             if (engine.gamepad2.dpad_right) {
-                robot.turretServo2.setPower(1);
+                robot.turretServo2.setPower(-1);
             }
 
             if (engine.gamepad2.dpad_left) {
-                robot.turretServo2.setPower(-1);
+                robot.turretServo2.setPower(1);
             }
         }
         //  if neither of these buttons power off