From 0c877f053bd9eb7770373a53c1c13e9177765445 Mon Sep 17 00:00:00 2001 From: SafePencil Date: Thu, 12 Aug 2021 20:35:58 -0500 Subject: [PATCH] a thing --- .../javaClass/cayden/Cayden_Autonomous.java | 21 +++++++++++++------ .../javaClass/samples/CaydenFirstEngine.java | 3 ++- 2 files changed, 17 insertions(+), 7 deletions(-) diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java index 346cc42..fc6b5c1 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/cayden/Cayden_Autonomous.java @@ -1,18 +1,21 @@ package org.timecrafters.javaClass.cayden; +import com.qualcomm.hardware.rev.RevBlinkinLedDriver; + import org.cyberarm.engine.V2.CyberarmState; import org.timecrafters.UltimateGoal.Competition.Robot; public class Cayden_Autonomous extends CyberarmState { private Robot robot; private double variable=.5; + private double inches=12; - - - - public Cayden_Autonomous(Robot robot) { + public Cayden_Autonomous(Robot robot, double variable, double inches) { this.robot = robot; + this.variable = variable; + this.inches = inches; } + @Override public void exec() { @@ -21,10 +24,16 @@ public class Cayden_Autonomous extends CyberarmState { robot.driveFrontLeft.setPower(variable); robot.driveBackLeft.setPower(variable); - if (robot.encoderLeft.getCurrentPosition()>=300){ + + if (Math.abs(robot.encoderLeft.getCurrentPosition())>=robot.inchesToTicks(inches)){ variable=0; } - +robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.BEATS_PER_MINUTE_FOREST_PALETTE); } + + @Override + public void telemetry() { + engine.telemetry.addData("Encoder", robot.encoderLeft.getCurrentPosition()); + } } diff --git a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java index 2c1f73b..0146442 100644 --- a/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java +++ b/TeamCode/src/main/java/org/timecrafters/javaClass/samples/CaydenFirstEngine.java @@ -22,6 +22,7 @@ public class CaydenFirstEngine extends CyberarmEngine { @Override public void setup() { - addState(new Cayden_Autonomous(robot)); + addState(new Cayden_Autonomous(robot,1,12)); + addState(new Cayden_Autonomous(robot,-1,12)); } }